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Revenue (Tables)

3 Months Ended

Mar. 31, 2023

Total revenue based on the disaggregation criteria described above, as well as revenue by segment, are as follows (in thousands):


	Three Months Ended March 31,
	2023				2022
	Revenue		% of Revenue		Revenue		% of Revenue
Revenue by primary geographical market:
North America	$	13,198	91	%	$	4,968	73	%
Asia Pacific	592		4	%	1,860		27	%
Europe and Middle East	719		5	%	27		—	%
Total	$	14,509	100	%	$	6,855	100	%
Revenue by timing of recognition:
Recognized at a point in time	$	7,358	51	%	$	1,541	22	%
Recognized over time	7,151		49	%	5,314		78	%
Total	$	14,509	100	%	$	6,855	100	%
Revenue by segment:
Autonomy Solutions	$	10,673	74	%	$	5,898	86	%
ATS	3,836		26	%	957		14	%
Total	$	14,509	100	%	$	6,855	100	%

The opening and closing balances of contract assets were as follows (in thousands):

The significant changes in contract assets balances consisted of the following (in thousands):



	March 31, 2023		December 31, 2022
Beginning balance	$	17,970	$	9,907
Amounts billed that were included in the contract assets beginning balance	(8,414)		(4,228)
Revenue recognized for performance obligations that have been satisfied but for which amounts have not been billed	4,333		12,291
Ending balance	$	13,889	$	17,970

The opening and closing balances of contract liabilities were as follows (in thousands):



	March 31, 2023		December 31, 2022
Contract liabilities, current	$	4,558	$	1,993
Contract liabilities, non-current	414		1,015
Ending balance	$	4,972	$	3,008

The significant changes in contract liabilities balances consisted of the following (in thousands):



	March 31, 2023		December 31, 2022
Beginning balance	$	3,008	$	898

Revenue recognized that was included in the contract liabilities beginning balance	(1,492)		(489)
Increase due to cash received and not recognized as revenue and billings in excess of revenue recognized during the period	3,456		2,599
Ending balance	$	4,972	$	3,008