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Revenue Recognition - Changes in Contract Liabilities (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]        
Deferred revenue, Balance at Beginning of Period $ 4,359 $ 3,533 $ 3,733 $ 3,740
Deferred revenue, Billings 3,442 2,059 7,670 5,333
Deferred revenue, Revenue Recognized (1,889) (1,786) (5,491) (5,267)
Deferred revenue, Balance at End of Period $ 5,912 $ 3,806 $ 5,912 $ 3,806