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Revenue Recognition - Revenue Recognized During Period (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2025 | Jun. 30, 2024 | Jun. 30, 2025 | Jun. 30, 2024
Amounts included in contract liabilities at the beginning of the period: |  |  |  |
Performance obligations satisfied | $ 140 | $ 129 | $ 250 | $ 500
Changes in the period: |  |  |  |
Changes in the estimated transaction price allocated to performance obligations satisfied in prior periods | (400) | (695) | (13) | (543)
Revenue recognized on performance obligations previously completed upon the customer achieving a milestone | 4,700 | 0 | 4,700 | 0
Performance obligations satisfied from new activities in the period - contract revenue | 10,888 | 8,545 | 17,934 | 25,095
Total revenues | $ 15,328 | $ 7,979 | $ 22,871 | $ 25,052

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