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Revenue (Tables)
9 Months Ended
Sep. 30, 2023
Revenue from Contract with Customer [Abstract]  
Schedule of Revenue Recognized
The Company recognized revenue as follows:
Three Months EndedNine Months Ended
September 30,September 30,
2023202220232022
Revenue recognized over time$1,646 $1,733 $4,968 $5,333 
Revenue recognized at a point in time1,423 1,526 4,184 4,598 
Total revenue$3,069 $3,259 $9,152 $9,931