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Other current liabilities - Additional information (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Miscellaneous current liabilities [abstract]      
Advance invoiced customers $ 1,694 $ 5,447  
Revenue recognized from advances from invoiced customers $ 5,342 $ 7,092  
Liability balance for advance invoiced customers     $ 7,367