Syncing from Joist to QuickBooks takes place every night (4am EST) when you have the automatic sync options turned on in the settings of the Joist app.
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A document is queued for syncing once it shows the blue "ISSUED" label in your list of estimates or invoices. Estimates and Invoices will automatically be updated with the "ISSUED" label once they are sent by email.

However, printing a document will not change the label to "ISSUED". You can send the document to yourself by email to update the label for automatic sync or you can use the manual sync feature instead.

What gets synced?

When you sync a document from Joist, a new document is created in QuickBooks.

Joist checks to see if the client, items and taxes from the document already exist in your QuickBooks account. If a matching item, client or tax isn't found, Joist creates a new one in your QuickBooks account for you.
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Payments information is not currently synced from Joist to QuickBooks, but you can log payments manually in QuickBooks after your documents have been synced.
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Does it sync both ways?

Data from your Joist account will sync in one direction, from Joist to your QuickBooks account.

Information from QuickBooks does not sync over to Joist.