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Deferred Revenue (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
--- | --- | --- | --- | ---
Deferred Revenue |  |  |  |
Total deferred revenue | $ 7,308 | $ 7,215 |  |
Cloud-based connectivity and basic IoT services |  |  |  |
Deferred Revenue |  |  |  |
Total deferred revenue | 1,122 | 1,375 | $ 2,669 | $ 2,058
Membership |  |  |  |
Deferred Revenue |  |  |  |
Total deferred revenue |  | 672 | 3,473 | 1,077
SaaS |  |  |  |
Deferred Revenue |  |  |  |
Total deferred revenue | $ 6,186 | $ 5,168 | $ 3,971 | $ 1,040

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