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Revenue Recognition - Contract Assets and Contract Liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2024	Dec. 31, 2023	Jun. 30, 2023	Dec. 31, 2022
Revenue from Contract with Customer [Abstract]
Accounts receivable	$ 5,724	$ 7,496		$ 14,214
Contract Balances:
Contract assets, current portion	2,120	1,547		2,559
Contract assets, net of current portion	8,014	8,716		13,680
Contract liabilities, current portion	(9,583)	(9,205)		(10,480)
Contract liabilities, net of current portion	(4,755)	(4,641)		(21,406)
Contract liabilities, net	$ (4,204)	$ (3,583)	$ (21,151)	$ (15,647)

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