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Revenue (Tables)
12 Months Ended
Dec. 31, 2023
Revenue from Contract with Customer [Abstract]  
Schedule of Disaggregation of Revenue
For the years ended December 31, 2023, 2022 and 2021, the Company recognized revenue as follows:
202320222021
Revenue recognized over time$6,472 $6,937 $6,097 
Revenue recognized at a point in time5,538 6,006 5,297 
Total$12,010 $12,943 $11,394