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Revenue - Changes in deferred revenue (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2025
Sep. 30, 2024
Sep. 30, 2025
Sep. 30, 2024
Dec. 31, 2024
Change in Contract with Customer, Liability [Abstract]          
Deferred revenue $ 5,423   $ 5,423   $ 5,525
Revenue recognized in the current period from amounts included in the beginning balance $ 1,159 $ 1,464 $ 4,961 $ 4,689