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Revenue Recognition - Contract with Customer (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Capitalized Contract Cost [Line Items]      
Change in unearned revenue $ 106 $ 2,935 $ (2,538)
Accounts receivable, trade      
Capitalized Contract Cost [Line Items]      
Contract with customer, asset 213,584 156,821  
Change in accounts receivable, trade $ 56,763    
Contract asset percent change 36.00%    
Unbilled receivables      
Capitalized Contract Cost [Line Items]      
Contract with customer, asset $ 7,961 8,832  
Change in unbilled receivables $ (871)    
Contract asset percent change (10.00%)    
Unearned revenue      
Capitalized Contract Cost [Line Items]      
Unearned revenue $ 7,770 $ 7,713  
Change in unearned revenue $ 57    
Contract liability percent change 1.00%