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Revenue Recognition - Narrative (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Revenue from Contract with Customer [Abstract]          
Costs to obtain revenue contracts $ 500   $ 500   $ 500
Capitalized contract cost, current 300   300   300
Capitalized contract cost, noncurrent 200   200   $ 200
Amortization of costs to obtain revenue contracts $ 100 $ 100 $ 162 $ 158