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Revenue Recognition - Contract Balances (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Dec. 31, 2021
Contract with Customer, Asset and Liability, Rollforward [Roll Forward]          
Beginning balance     $ 83    
Cash received, excluding amounts recognized as revenue     2,729    
Amounts recognized as revenue $ 200 $ 3 (311) $ 300  
Ending balance 2,501   2,501    
Contract liabilities, current 1,497   1,497   $ 83
Contract liabilities, noncurrent $ 1,000   $ 1,000