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Revenue from Contracts with Customers
 3 Months Ended
Mar. 31, 2024
Revenue from Contract with Customer [Abstract]  
Revenue from Contracts with Customers Revenue from Contracts with Customers
Contract Assets

The changes in our contract assets are as follows (in thousands):
Three Months Ended
March 31,
20242023
Beginning of period balance$9,099 $13,975 
Commission costs and upfront payments to a customer capitalized in period3,112 1,673 
Amortization of contract assets(1,745)(1,769)
End of period balance$10,466 $13,879 

Contract Liabilities

The changes in our contract liabilities are as follows (in thousands):
Three Months Ended
March 31,
20242023
Beginning of period balance$22,885 $18,332 
Revenue deferred in period6,424 5,940 
Revenue recognized from amounts included in contract liabilities(5,097)(4,041)
End of period balance$24,212 $20,231