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Revenue Recognition - Performance Obligation (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
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Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |
Performance obligations | $ 11,454 | $ 13,584 | $ 20,046
Current |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |
Performance obligations | 7,250 | 8,459 |
Non-current |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |
Performance obligations | $ 4,204 | $ 5,125 |

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- Definition Amount of transaction price allocated to performance obligation that has not been recognized as revenue. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Name Accounting Standards Codification -Section 50 -Paragraph 13 -Subparagraph (a) -SubTopic 10 -Topic 606 -Publisher FASB -URI https://asc.fasb.org/1943274/2147479806/606-10-50-13 + Details
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