Revenue Recognition Contract Liabilities (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Contract With Customer, Liability [Line Items]
Balance at beginning of period	$ 2,353	$ 3,418	$ 2,643	$ 3,672
Recognized in revenue	(293)	(257)	(583)	(511)
Balance at end of period	$ 2,060	$ 3,161	$ 2,060	$ 3,161