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Revenue - Over Time Sales (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2024 | Mar. 31, 2023
Disaggregation of Revenue |  |
Over time sales, amount | $ 29,124 | $ 32,526
Over time sales, percentage | 23.40% | 28.20%
Over time input method |  |
Disaggregation of Revenue |  |
Over time sales, amount | $ 13,143 | $ 16,211
Over time sales, percentage | 10.60% | 14.00%
Over time output method |  |
Disaggregation of Revenue |  |
Over time sales, amount | $ 15,981 | $ 16,315
Over time sales, percentage | 12.90% | 14.10%

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