Revenue from Contracts with Customers (Tables)

12 Months Ended

Dec. 31, 2023

Revenue from Contract with Customer [Abstract]

Schedule of Changes in Contract Assets and Contract Liabilities

The changes in our contract assets are as follows (in thousands):

	Year Ended December 31,
	2023		2022		2021
Beginning of period balance	$	13,975	$	4,520	$	4,306
Commission costs and upfront payments to a customer capitalized in period	7,837		14,270		3,779
Reimbursement of previously capitalized upfront payments to customers	(6,774)		—		—
Amortization of contract assets	(5,939)		(4,815)		(3,565)
End of period balance	$	9,099	$	13,975	$	4,520

The changes in our contract liabilities are as follows (in thousands):

	Year Ended December 31,
	2023		2022		2021
Beginning of period balance	$	18,332	$	14,837	$	12,529
Revenue deferred and acquired in period	22,861		18,617		13,947
Revenue recognized from amounts included in contract liabilities	(18,308)		(15,122)		(11,639)
End of period balance	$	22,885	$	18,332	$	14,837