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Revenue Recognition (Tables)
 9 Months Ended
Sep. 30, 2023
Revenue Recognition and Deferred Revenue [Abstract]  
Schedule of performance obligations The following table includes estimated revenues expected to be recognized in the future related to performance obligations that are unsatisfied (or partially satisfied) as of September 30, 2023.
Less than 1 yearGreater than 1 yearTotal
Product revenue$2,469 $— $2,469 
Subscription revenue51,258 108,942 160,200 
Service revenue18,173 40,284 58,457 
Total revenue$71,900 $149,226 $221,126 
Schedule of minimum future payments on noncancelable leases As of September 30, 2023, future minimum payments on noncancelable leases are as follows (in thousands):
Year Ending December 31:
2023 (three months remaining)$12,988 
202450,800 
202546,632 
202635,489 
202714,291 
$160,200 
Summary of rollforward of deferred revenue
The following table provides a rollforward of deferred revenue (in thousands):
Balance at December 31, 2022$35,968 
Revenue recognized in relation to the beginning of the year contract liability balance(16,507)
Revenue deferred53,058 
Balance at September 30, 2023$72,519 
Schedule of components of lease revenue
The following table presents the Company’s components of lease revenue (in thousands):
Three Months Ended
September 30,		Nine Months Ended
September 30,
2023202220232022
Revenue from sales-type leases$— $29 $— $1,135 
Interest income on lease receivables49 60 153 170 
Lease income - operating leases10,231 5,198 24,661 12,208 
Total lease revenue$10,280 $5,287 $24,814 $13,513 
Summary of company's revenue by revenue stream
The following table presents the Company’s revenue by revenue stream (in thousands):

Three Months Ended
September 30,		Nine Months Ended
September 30,
2023202220232022
Product revenue$3,191 $9,839 $19,188 $19,179 
Leased equipment10,231 5,198 24,661 12,208 
SaaS, maintenance, and other revenue4,397 1,180 11,296 2,277 
Professional services360 313 1,440 646 
License fee and other revenue2,012 — 2,012 — 
Total revenue$20,191 $16,530 $58,597 $34,310