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Revenue - Disaggregated by Timing of Recognition (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Disaggregation of Revenue    
Revenue $ 14,430 $ 14,846
Point in time    
Disaggregation of Revenue    
Revenue 10,967 13,870
Over time    
Disaggregation of Revenue    
Revenue $ 3,463 $ 976