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Revenue Recognition - Change in Contract Liabilities (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2019
Mar. 31, 2018
Change in Contract with Customer, Liability [Roll Forward]    
Beginning balance $ 3,479 $ 5,234
Impact of adoption of ASC 606 0 (518)
Increases due to cash received from customers 908 1,267
Decreases due to recognition of revenue (489) (1,461)
Other changes (265) (4)
Ending balance of contract liabilities $ 3,633 $ 4,518