Revenue Recognition Contract Liabilities (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Contract With Customer, Liability [Line Items]
Balance at beginning of period	$ 3,161	$ 4,144	$ 3,672	$ 4,610
Recognized in revenue	(259)	(236)	(770)	(702)
Balance at end of period	$ 2,902	$ 3,908	$ 2,902	$ 3,908