Revenue (Tables)

12 Months Ended

Dec. 31, 2023

Revenue from Contract with Customer [Abstract]

Schedule of Disaggregation of Revenue

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

	Year Ended December 31,
	2023				2022				2021
	Revenue		% of Revenue		Revenue		% of Revenue		Revenue		% of Revenue
Revenue by primary geographical market:
North America	$	64,083	92	%	$	35,032	86	%	$	23,043	72	%
Asia Pacific	1,178		2	%	3,703		9	%	2,502		8	%
Europe and Middle East	4,518		6	%	1,963		5	%	6,399		20	%
Total	$	69,779	100	%	$	40,698	100	%	$	31,944	100	%
Revenue by timing of recognition:
Recognized at a point in time	$	45,049	65	%	$	17,595	43	%	$	8,892	28	%
Recognized over time	24,730		35	%	23,103		57	%	23,052		72	%
Total	$	69,779	100	%	$	40,698	100	%	$	31,944	100	%
Revenue by segment:
Autonomy Solutions	$	48,835	70	%	$	24,353	60	%	$	28,497	89	%
ATS	20,944		30	%	16,345		40	%	3,447		11	%
Total	$	69,779	100	%	$	40,698	100	%	$	31,944	100	%

Schedule of Opening and Closing Balances of Contract Liabilities and Significant Changes in Contract Liabilities

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

	December 31,
	2023		2022
Contract assets, current	$	14,132	$	15,395
Contract assets, non-current	2,471		2,575
Ending balance	$	16,603	$	17,970

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

	December 31,
	2023		2022
Beginning balance	$	17,970	$	9,907
Amounts billed that were included in the contract assets beginning balance	(10,965)		(4,228)
Revenue recognized for performance obligations that have been satisfied but for which amounts have not been billed	9,598		12,291
Ending balance	$	16,603	$	17,970

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

	December 31,
	2023		2022
Contract liabilities, current	$	3,127	$	1,993
Contract liabilities, non-current	805		1,015
Ending balance	$	3,932	$	3,008

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

	December 31,
	2023		2022
Beginning balance	$	3,008	$	898
Revenue recognized that was included in the contract liabilities beginning balance	(2,125)		(489)
Increase due to cash received and not recognized as revenue and billings in excess of revenue recognized during the period	3,049		2,599
Ending balance	$	3,932	$	3,008