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Revenue Recognition - Summary of Contract with Customer, Contract Asset, Contract Liability, and Receivable (Details) - USD ($)
$ in Thousands
Mar. 31, 2023
Dec. 31, 2022
Revenue Recognition [Abstract]    
Accounts receivable, net of allowances $ 17,938 $ 13,697
Unbilled receivables 4,021 5,268
Deferred revenue - current 3,755 5,223
Deferred revenue - non-current $ 73 $ 131