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Revenue Recognition - Revenue Recognized During Period (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Amounts included in contract liabilities at the beginning of the period:        
Performance obligations satisfied $ 0 $ 1,303 $ 475 $ 9,111
Changes in the period:        
Changes in the estimated transaction price allocated to performance obligations satisfied in prior periods 146 1,018 (446) 4,238
Performance obligations satisfied from new activities in the period - contract revenue 12,687 6,956 37,856 30,233
Total revenues $ 12,833 $ 9,277 $ 37,885 $ 43,582