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Revenue (Tables)
3 Months Ended
Mar. 31, 2023
Revenue from Contract with Customer [Abstract]  
Revenue Recognized
The Company recognized revenue as follows:
Three Months Ended
March 31,
20232022
Revenue recognized over time$1,664 $1,717 
Revenue recognized at a point in time1,310 1,445 
Total revenue$2,974 $3,162