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Revenue
 6 Months Ended
Jun. 30, 2023
Revenue from Contract with Customer [Abstract]  
Revenue Revenue
The Company recognized revenue as follows:
Three Months EndedSix Months Ended
June 30,June 30,
2023202220232022
Revenue recognized over time$1,658 $1,883 $3,322 $3,600 
Revenue recognized at a point in time1,451 1,627 2,761 3,072 
Total revenue$3,109 $3,510 $6,083 $6,672 

See Note Q for further disaggregation of the Company's revenue.
The Company has applied the practical expedient to exclude disclosure of remaining performance obligations as its binding orders typically have a term of one year or less.
Contract assets are typically recognized for work in process related to the Company's three-piece printed products and equipment business. Contract assets and liabilities are reported in a net position on a contract-by-contract basis. The Company had net contract assets of $20 and $18 as of June 30, 2023 and December 31, 2022, respectively, included in prepaid and other current assets. During the three and six months ended June 30, 2023, the Company satisfied performance obligations related to contract assets at December 31, 2022 and also recorded new contract assets primarily related to work in process for the equipment business.