Revenue Recognition Contract Liabilities (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Contract With Customer, Liability [Line Items]
Balance at beginning of period	$ 2,060	$ 3,161	$ 2,643	$ 3,672
Recognized in revenue	(296)	(259)	(879)	(770)
Balance at end of period	$ 1,764	$ 2,902	$ 1,764	$ 2,902