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Revenue (Tables)
3 Months Ended
Mar. 31, 2024
Revenue from Contract with Customer [Abstract]  
Schedule of Revenue Recognized
The Company recognized revenue as follows:
Three Months Ended
March 31,
20242023
Revenue recognized over time$1,571 $1,664 
Revenue recognized at a point in time1,213 1,310 
Total revenue$2,784 $2,974