Revenue Recogntion Contract Liabilities (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Contract With Customer, Liability [Line Items]
Balance at beginning of period	$ 183,898	$ 194,464
Recognized in revenue	(2,640)	(2,638)
Balance at end of period	$ 181,258	$ 191,826