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Principal Accounting Policies - Revenue Recognition (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Disaggregation of Revenue |  |  |
Total revenue | $ 229,990 | $ 208,172 | $ 302,076
Services expiration period | 12 months |  |
Remaining performance obligations | $ 7,308 | 7,215 |
Contract liability, including both deferred revenue and the advance from customers | $ 39,084 | 34,848 |
Revenue, remaining performance obligation, optional exemption, performance obligation [true false] | true |  |
Current deferred revenue |  |  |
Disaggregation of Revenue |  |  |
Remaining performance obligations | $ 6,802 | 6,821 |
Non-current deferred revenue |  |  |
Disaggregation of Revenue |  |  |
Remaining performance obligations | $ 506 | 394 |
Maximum |  |  |
Disaggregation of Revenue |  |  |
Remaining performance obligation recognition period | 36 months |  |
Minimum |  |  |
Disaggregation of Revenue |  |  |
Remaining performance obligation recognition period | 18 months |  |
IoT PaaS |  |  |
Disaggregation of Revenue |  |  |
Total revenue | $ 167,694 | 152,914 | 261,360
IoT PaaS | Maximum |  |  |
Disaggregation of Revenue |  |  |
Life cycle of different smart devices | 2 years |  |
IoT PaaS | Minimum |  |  |
Disaggregation of Revenue |  |  |
Life cycle of different smart devices | 1 year 6 months |  |
Smart device distribution |  |  |
Disaggregation of Revenue |  |  |
Total revenue | $ 26,517 | 25,446 | 22,153
SaaS and others |  |  |
Disaggregation of Revenue |  |  |
Total revenue | $ 35,779 | $ 29,812 | $ 18,563

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