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Revenue Recognition - Contract Assets (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Contract With Customer, Asset, After Allowance for Credit Loss [Roll Forward]    
Beginning balance $ 25,201 $ 3,327
Transferred to accounts receivable from contract assets recognized at the beginning of the period (14,576) (4,277)
Revenue recognized and not billed as of the end of the period 2,908 5,958
Ending balance $ 13,533 $ 5,008