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Revenue (Tables)
9 Months Ended
Sep. 30, 2021
Revenue from Contract with Customer [Abstract]  
Revenue Recognized
Three Months EndedNine Months Ended
September 30,September 30,
2021202020212020
Revenue recognized over time$1,527 $1,239 $4,448 $3,696 
Revenue recognized at a point in time1,393 1,250 3,892 3,236 
Total revenue$2,920 $2,489 $8,340 $6,932