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Revenue - Narrative (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended | 12 Months Ended
--- | --- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022 | Dec. 31, 2022
Contract revenue |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Revenue recognized from previously recorded contract liabilities | $ 405 | $ 619 | $ 1,242 | $ 965 |
Customer Concentration Risk | Accounts receivable | Customer One |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Concentration risk | 22.00% |  |  |  | 38.00%
Customer Concentration Risk | Accounts receivable | Customer Two |  |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |  |
Concentration risk |  |  | 14.00% |  |

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