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Revenue Recognition (Tables) | 12 Months Ended
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Dec. 31, 2023
Revenue Recognition and Deferred Revenue [Abstract] |
Schedule of performance obligations | The following table includes estimated revenues expected to be recognized in the future related to performance obligations that are unsatisfied (or partially satisfied) as of December 31, 2023.
| Less than 1 year |  | 1 - 2 years |  | More than 2 years |  | Total
Product revenue | $ | 997 |  |  | $ | — |  |  | $ | — |  |  | $ | 997 |
Subscription revenue | 56,819 |  |  | 52,188 |  |  | 63,265 |  |  | 172,272 |
Service revenue | 21,255 |  |  | 20,948 |  |  | 24,898 |  |  | 67,101 |
License fee and other revenue | 143 |  |  | — |  |  | — |  |  | 143 |
Total revenue | $ | 79,214 |  |  | $ | 73,136 |  |  | $ | 88,163 |  |  | $ | 240,513 |
Schedule of minimum future payments on noncancelable leases | The amount of minimum future leases is based on expected income recognition. As of December 31, 2023, future minimum payments on noncancelable leases are as follows (in thousands):
Year Ending December 31: |
2024 | $ | 56,819 |
2025 | 52,188 |
2026 | 41,088 |
2027 | 21,118 |
Thereafter | 1,059 |
| $ | 172,272 |
Summary of rollforward of deferred revenue | The following table provides a rollforward of deferred revenue (in thousands):
Balance at December 31, 2021 | $ | 9,074 |
Revenue recognized in relation to the beginning of the year contract liability balance | (6,632) |
Revenue deferred | 33,526 |
Balance at December 31, 2022 | $ | 35,968 |
Revenue recognized in relation to the beginning of the year contract liability balance | (19,104) |
Revenue deferred | 54,626 |
Balance at December 31, 2023 | $ | 71,490 |
Schedule of components of lease revenue | The following table presents the Company’s components of lease revenue (in thousands):
| Twelve Months Ended December 31,
| 2023 |  | 2022
Revenue from sales-type leases | $ | — |  |  | $ | 1,123 |
Interest income on lease receivables | 197 |  |  | 224 |
Lease income - operating leases | 37,247 |  |  | 17,569 |
Total lease revenue | $ | 37,444 |  |  | $ | 18,916 |
Summary of company's revenue by revenue stream | The following table presents the Company’s revenue by revenue stream (in thousands). Certain prior period amounts have been reclassified to conform to current period presentation:
| Twelve Months Ended December 31,
| 2023 |  | 2022
Product revenue | $ | 21,977 |  |  | $ | 31,985 |
Leased equipment | 37,247 |  |  | 17,569 |
Service revenue | 16,141 |  |  | 4,331 |
License fees | 2,963 |  |  | — |
Professional services and other revenue | 2,090 |  |  | 1,310 |
Total revenue | $ | 80,418 |  |  | $ | 55,195 |
Revenue from External Customers by Geographic Areas | The following table presents the Company's revenue by geographical region based on customer location (in thousands):
| Twelve Months Ended December 31,
| 2023 |  | 2022
United States | $ | 78,556 |  |  | $ | 53,815 |
Foreign | 1,862 |  |  | 1,380 |
Total revenue | $ | 80,418 |  |  | $ | 55,195 |

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