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v3.23.2

Contract Assets and Contract Liabilities - Additional Information (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended |
--- | --- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022 | Dec. 31, 2022
Contract with Customer, Contract Asset, Contract Liability, and Receivable [Abstract] |  |  |  |  |
Contract liabilities | $ 13,895 |  | $ 13,895 |  | $ 11,956
Contract liabilities, non-current | 3,600 |  | 3,600 |  | $ 3,000
Revenue from contract liabilities | 3,000 | $ 3,300 | 7,000 | $ 6,900 |
Revenue recognized from contract liabilities | $ 6,200 | $ 5,800 | $ 11,118 | $ 10,100 |

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