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Revenue
 6 Months Ended
Jun. 30, 2023
Revenue from Contract with Customer [Abstract]  
Revenue Revenue
All of the Company's revenue for the three and six months ended June 30, 2023 and 2022 was generated in the United States.
The following tables summarize the Company’s revenue by line of business, customer type, and contract type (in thousands):
Three Months Ended June 30,Six Months Ended June 30,
2023202220232022
Revenue by Line of Business
Asset management$5,367 $5,538 $11,896 $11,535 
Property management2,5202,1925,126 4,323 
Parking management1,0807372,220 1,340 
Total revenue$8,967 $8,467 $19,242 $17,198 
Revenue by Customer Type
Related party$8,730 $8,288 $18,694 $16,928 
Commercial237 179 548 270 
Total revenue$8,967 $8,467 $19,242 $17,198 
Revenue by Contract Type1
Fixed-price$1,019 $1,652 $2,764 $3,539 
Cost-plus5,081 4,586 10,595 9,356 
Variable2,867 2,229 5,883 4,303 
Total revenue$8,967 $8,467 $19,242 $17,198 
1
Certain contracts contain multiple revenue streams with characteristics that lend to classification in more than one category