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Summary of Significant Accounting Policies (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Revenue | $ 461,117 | $ 454,793 | $ 328,304
Minimum |  |  |
License agreement, term of agreement | 1 year |  |
Long-duration contracts, assumptions by product and guarantee, discount rate | 5.00% |  |
Maximum |  |  |
License agreement, term of agreement | 10 years |  |
Long-duration contracts, assumptions by product and guarantee, discount rate | 10.00% |  |
Percentage of completion |  |  |
Revenue | $ 6,100 |  |

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