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Revenue - Contract Assets and Deferred Revenue (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
--- | --- | ---
Disaggregation of Revenue [Line Items] |  |
Contract assets - current | $ 1,461 | $ 621
Contract assets - non-current | 9,397 | 1,323
Total contract assets | 10,858 | 1,944
Deferred revenue | 11,829 | 17,048
Deferred revenue - non-current | 4,071 | 4,202
Total deferred revenue | 15,900 | 21,250
Prepaid expenses and other current assets |  |
Disaggregation of Revenue [Line Items] |  |
Contract assets - current | 1,461 | 621
Other assets |  |
Disaggregation of Revenue [Line Items] |  |
Contract assets - non-current | 9,397 | 1,323
Accrued expenses and other current liabilities |  |
Disaggregation of Revenue [Line Items] |  |
Deferred revenue | 11,829 | 17,048
Other liabilities |  |
Disaggregation of Revenue [Line Items] |  |
Deferred revenue - non-current | $ 4,071 | $ 4,202

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