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Revenue Recognition - Contract Balances (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Revenue from Contract with Customer [Abstract]    
Increase in net contract assets (liabilities) $ 2,500  
Contract assets 5,166 $ 4,139
Contract liabilities (4,649) (6,147)
Net contract assets/(liabilities) $ 517 $ (2,008)