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
 9 Months Ended
Sep. 30, 2023
Dec. 31, 2022
Contract Assets    
Billings or revenue recognized that was included in the beginning balance $ (2,955)  
Changes in contract assets or contract liabilities, net of reclassification to receivables 8,617  
Cumulative catch-up adjustment arising from changes in estimates to complete (92)  
Cumulative catch-up adjustment arising from contract modifications (208)  
Changes in costs to fulfill and amortization of commission costs (91)  
Contract Liabilities    
Contract Liability, Beginning balance 6,892  
Billings or revenue recognized that was included in the beginning balance (6,117)  
Changes in contract assets or contract liabilities, net of reclassification to receivables 5,757  
Cumulative catch-up adjustment arising from changes in estimates to complete 49  
Cumulative catch-up adjustment arising from contract modifications 149  
Changes in contract commission costs (13)  
Contract assets 12,945 $ 7,674
Contract Liability, Ending balance $ 6,717