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Revenue - Narrative (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022
Disaggregation of Revenue |  |
Deferred revenue | $ 12,479 | $ 19,452
Reduction in net sales | (543,744) | (497,497)
Changes in actual and expected values of commercial contracts |  |
Disaggregation of Revenue |  |
Reduction in net sales | 8,718 | 4,800
Commercial contracts | Changes in actual and expected values of commercial contracts |  |
Disaggregation of Revenue |  |
Reduction in net sales | $ 2,987 | $ 3,956
Point in time |  |
Disaggregation of Revenue |  |
Customer revenue transferred (percentage) | 72.60% | 72.70%
Reduction in net sales | $ (395,024) | $ (361,587)

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