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Revenue Recognition - Schedule of Changes in Contract Cost Assets (Details) - USD ($)
$ in Thousands
6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Capitalized Contract Cost [Roll Forward]      
Beginning balance $ 6,539 $ 5,835  
Additions 2,291 1,326  
Amortization (1,559) (1,185)  
Ending balance 7,271 5,976  
Contract cost assets – current 3,471 2,704 $ 2,938
Contract cost assets, noncurrent 3,800 3,272  
Total deferred contract cost assets $ 7,271 $ 5,976 $ 6,539