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Revenue (Tables)
6 Months Ended
Jun. 30, 2023
Revenue from Contract with Customer [Abstract]  
Schedule of Revenue Recognized
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