Annual report pursuant to Section 13 and 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
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Contract Assets    
Contract Assets, Beginning balance $ 3,796  
Billings or revenue recognized that was included in the beginning balance (740)  
Changes in contract assets, net of reclassification to receivables 780  
Cumulative catch-up adjustment arising from changes in estimates to complete 0  
Changes in costs to fulfill and amortization of commission costs (2,158)  
Contract Assets, Ending balance 1,678 $ 3,796
Contract Liabilities    
Contract Liability, Beginning balance 17,096  
Billings or revenue recognized that was included in the beginning balance (12,641)  
Cash received in advance and not recognized as revenue 3,060  
Cumulative catch-up adjustment arising from changes in estimates to complete   4,624
Cumulative catch-up adjustment arising from contract modification 18  
Changes in costs to fulfill and amortization of commission costs 0  
Changes in contract commission costs (323)  
Contract Liability, Ending balance $ 11,834 $ 17,096