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Contract Assets and Contract Liabilities - Summary of Contract Liabilities (Details) - USD ($) $ in Thousands | Mar. 31, 2024 | Dec. 31, 2023
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Contract with Customer, Contract Asset, Contract Liability, and Receivable [Abstract] |  |
Contract liabilities | $ 16,044 | $ 16,474
Less: Non-current portion of contract liabilities | 2,412 | 2,564
Current portion of contract liabilities | $ 13,632 | $ 13,910

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