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Revenue from contracts with customers - Receivables, Contract Assets and Liabilities (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Contract assets:    
Trade accounts receivable, excluding unbilled receivables $ 395 $ 757
Unbilled receivables 368 58
Trade accounts receivable, net 763 815
Contract liabilities:    
Deferred revenue, current 2,177 1,781
Deferred revenue, noncurrent 92 9
Customer deposit 45 45
Total contract liabilities $ 2,314 $ 1,835