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Revenue from Contracts with Customers - Contract Asset and Liability Balances (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2019
Sep. 30, 2018
Sep. 30, 2019
Sep. 30, 2018
Change in Contract Asset Balance        
Beginning of period balance $ 3,849 $ 2,879 $ 2,881 $ 0
Commission costs and upfront payments to a customer capitalized in period 333 489 2,438 4,344
Amortization of contract assets (613) (490) (1,750) (1,466)
End of period balance 3,569 2,878 3,569 2,878
Change In Contract With Customer, Liability [Roll Forward]        
Beginning of period balance 10,980 11,971 11,176 12,678
Revenue deferred in period 542 1,225 3,013 2,706
Revenue recognized from amounts included in contract liabilities (1,499) (1,322) (4,166) (3,510)
End of period balance $ 10,023 $ 11,874 $ 10,023 $ 11,874