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Revenue Recognition - Changes in Contract Assets (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Revenue from Contract with Customer [Abstract]        
Unbilled receivables, Balance at Beginning of Period $ 2,820 $ 3,430 $ 2,929 $ 3,087
Unbilled receivables, Revenue Recognized In Advance of Billings 924 1,278 2,601 4,279
Unbilled receivables, Billings (1,972) (952) (3,758) (3,610)
Unbilled receivables, Balance at End of Period $ 1,772 $ 3,756 $ 1,772 $ 3,756