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Revenue - Narrative (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021
Contract revenue |  |
Disaggregation of Revenue [Line Items] |  |
Revenue recognized from previously recorded contract liabilities | $ 1,253 | $ 1,665
Customer Concentration Risk | Accounts receivable | Largest customer |  |
Disaggregation of Revenue [Line Items] |  |
Concentration risk | 38.00% |
Customer Concentration Risk | Accounts receivable | Second largest customer |  |
Disaggregation of Revenue [Line Items] |  |
Concentration risk |  | 31.00%

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