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Revenue - Schedule of Contract Assets and Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
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Revenue from Contract with Customer [Abstract] |  |
Accounts receivable, net | $ 16,642 | $ 18,468
Short-term contract liabilities | 1,264 | 3,982
Total contract liabilities | 1,264 | 3,982
Accounts receivable, net | 17,730 | 16,642
Short-term contract liabilities | 3,288 | 1,264
Long-term contract liabilities (included in other long-term liabilities) | 3,928 |
Total contract liabilities | $ 7,216 | $ 1,264

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