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Contract balances for the years ended December 31, 2023, 2022, and 2021 are as follows: (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Accounting Policies [Abstract]
Accounts receivable, net	$ 3,467	$ 4,734	$ 3,937
Contract assets			179
Contract liabilities	$ 2,353	$ 2,188	$ 1,444

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Amount, after allowance for credit loss, of right to consideration from customer for product sold and service rendered in normal course of business, classified as current.

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Amount, after allowance for credit loss, of right to consideration in exchange for good or service transferred to customer when right is conditioned on something other than passage of time.

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Amount of obligation to transfer good or service to customer for which consideration has been received or is receivable.

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