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Accounts Receivable and Contract Assets (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Accounts Receivable and Contract Assets [Abstract]    
Accounts receivable - customers $ 7,602 $ 8,250
Other receivables 539 592
Accounts receivable 8,141 8,842
Less: allowance for doubtful accounts (1,055) (1,005)
Accounts receivable, net 7,086 7,837
Unbilled revenue 3,575 $ 3,484
Change in accounts receivable - customers (648)  
Change in other receivables (53)  
Change in accounts receivable (701)  
Change in allowance for doubtful accounts (50)  
Change in accounts receivable, net (751)  
Change in unbilled revenue $ 91