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Revenue Recognition - Deferred Revenue (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Revenue from Contract with Customer [Abstract]      
Deferred revenue, beginning of period $ 7,840 $ 4,637 $ 1,797
Deferred revenue, end of period 7,013 7,840 4,637
Revenue recognized in the year from amounts included in deferred revenue at the beginning of the year $ 7,840 $ 4,637 $ 1,797