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, 2023
Dec. 31, 2022
Contract Assets    
Billings or revenue recognized that was included in the beginning balance $ (3,063)  
Changes in contract assets or contract liabilities, net of reclassification to receivables 18,854  
Cumulative catch-up adjustment arising from changes in estimates to complete 595  
Cumulative catch-up adjustment arising from contract modifications (16)  
Changes in costs to fulfill and amortization of commission costs (71)  
Contract Liabilities    
Contract Liability, Beginning balance 6,892  
Billings or revenue recognized that was included in the beginning balance (6,191)  
Changes in contract assets or contract liabilities, net of reclassification to receivables 2,512  
Cumulative catch-up adjustment arising from changes in estimates to complete 225  
Cumulative catch-up adjustment arising from contract modifications 341  
Changes in contract commission costs 60  
Contract assets 23,973 $ 7,674
Contract Liability, Ending balance $ 3,839