Supplemental Consolidated Financial Statement Information - Prepaid expenses and other current assets (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Supplemental Consolidated Financial Statement Information
Contract assets	$ 4,318	$ 5,433
Prepaid expenses	3,197	2,271
Other assets	1,139	1,247
Other current assets	$ 8,654	$ 8,951

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