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Revenue Recognition - Revenue Recognized During Period (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Amounts included in contract liabilities at the beginning of the period:        
Performance obligations satisfied $ 1,303 $ 889 $ 9,111 $ 1,694
Changes in the period:        
Changes in the estimated transaction price allocated to performance obligations satisfied in prior periods 1,018 495 4,238 365
Performance obligations satisfied from new activities in the period - contract revenue 6,956 33,086 30,233 106,156
Total revenues $ 9,277 $ 34,470 $ 43,582 $ 108,215