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Revenue Recognition - Contract Balances from Contracts with Customers (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Dec. 31, 2021
Revenue Recognition      
Current portion of contract assets $ 1,448   $ 1,459
Contract assets, noncurrent 3,321   $ 3,418
Recognition of revenue that was previously included in the deferred revenue balance $ 2,500 $ 900