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Revenue, Performance Obligations and Contract Balances - Summary of Contract Asset and Liability (Details) - USD ($) $ in Thousands | Mar. 31, 2024 | Dec. 31, 2023
--- | --- | ---
Contract Assets |  |
Total contract assets | $ 7,082 | $ 7,676
Contract Liabilities |  |
Contract liabilities | 4,097 | 4,089
Contract liabilities, less current portion | 2,752 | 2,731
Total contract liabilities | 6,849 | 6,820
Prepaid Expenses and Other Current Assets [Member] |  |
Contract Assets |  |
Total contract assets | 2,893 | 2,893
Other Long-term Assets [Member] |  |
Contract Assets |  |
Total contract assets | $ 4,189 | $ 4,783

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