Quarterly report pursuant to Section 13 or 15(d)

Contract Assets and Liabilities - Changes in Short-term and Long-term Contracts (Details)

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Contract Assets and Liabilities - Changes in Short-term and Long-term Contracts (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Contract Assets      
Contract Assets, Beginning balance   $ 1,678  
Billings or revenue recognized that was included in the beginning balance   (788)  
Changes in contract assets or contract liabilities, net of reclassification to receivables   5,091  
Changes in costs to fulfill and amortization of commission costs   (479)  
Contract Assets, Ending balance   5,502  
Contract Liabilities      
Contract Liability, Beginning balance   11,834  
Billings or revenue recognized that was included in the beginning balance   (9,153)  
Changes in contract assets or contract liabilities, net of reclassification to receivables   (756)  
Cumulative catch-up adjustment arising from changes in estimates to complete $ 300 2,163 $ 300
Cumulative catch-up adjustment arising from contract modification   356  
Changes in contract commission costs   487  
Contract Liability, Ending balance   $ 4,931