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Revenue Recognition - Contract Assets (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Contract With Customer, Asset, After Allowance for Credit Loss [Roll Forward]    
Beginning balance $ 46,727 $ 25,201
Transferred to accounts receivable from contract assets recognized at the beginning of the period (10,787) (14,576)
Revenue recognized and not billed as of the end of the period 11,838 2,908
Ending balance $ 47,778 $ 13,533