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Revenue Recognition - Contract Balances (Details) - USD ($) $ in Thousands | 9 Months Ended |  |
--- | --- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Dec. 31, 2022 | Dec. 31, 2021
Revenue from External Customer [Line Items] |  |  |  |
Contract assets | $ 10,400 | $ 16,700 | $ 16,200 | $ 17,400
Contract liabilities | 17,600 | 33,500 | 31,900 | 52,500
Revenue recognized | 31,500 | 41,000 |  |
Contract liabilities increase due to cash received | 2,700 | 2,600 |  |
Write-down of contract liabilities | 11,400 |  |  |
Contract assets reclassified into accounts receivable | 25,100 | 18,500 |  |
Contract assets decrease, licensing contract modification | 6,600 | 1,300 |  |
Accounts receivable |  | 12,100 |  | 13,300
Disposal Group, Held-for-sale, Not Discontinued Operations |  |  |  |
Revenue from External Customer [Line Items] |  |  |  |
Deferred revenues | 0 | 800 | 282 | 1,100
Receivables, net of allowance for credit losses | $ 183 | $ 500 | $ 4,206 | $ 800

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