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Revenue Recognition Contract Liabilities (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Contract With Customer, Liability [Line Items]        
Balance at beginning of period $ 1,175 $ 2,353 $ 1,468 $ 2,643
Recognized in revenue (293) (293) (586) (583)
Balance at end of period $ 882 $ 2,060 $ 882 $ 2,060
Contract with Customer, Asset and Liability [Table Text Block]    
Contract Assets
The following table presents a reconciliation of our contract assets:
Three Months EndedSix Months Ended
June 30,June 30,
2024202320242023
(Thousands)
Balance at beginning of period$17,882 $13,554 $16,806 $12,490 
Revenue recognized in excess of amounts invoiced1,076 1,076 2,152 2,140 
Balance at end of period$18,958 $14,630 $18,958 $14,630 
Contract Liabilities
The following table presents a reconciliation of our contract liabilities:
Three Months EndedSix Months Ended
June 30,June 30,
2024202320242023
(Thousands)
Balance at beginning of period$1,175 $2,353 $1,468 $2,643 
Recognized in revenue(293)(293)(586)(583)
Balance at end of period$882 $2,060 $882 $2,060