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Revenue from Contracts with Customers - Significant Changes in Contract Liabilities Balance (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Revenue from Contract with Customer [Abstract]    
Revenue recognized included in beginning of period balance $ (7,849) $ (6,095)
Cash received, excluding amounts recognized as revenue during the period $ 7,519 $ 28,005