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Revenue
 9 Months Ended
Sep. 30, 2023
Revenue from Contract with Customer [Abstract]  
Revenue Revenue
All of the Company's revenue for the three and nine months ended September 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 September 30,Nine Months Ended September 30,
2023202220232022
Revenue by Line of Business
Asset management$10,606 $9,391 $22,502 $20,926 
Property management2,605 2,5087,731 6,831 
Parking management1,252 9143,472 2,254 
Total revenue$14,463 $12,813 $33,705 $30,011 
Revenue by Customer Type
Related party$14,162 $12,549 $32,856 $29,477 
Commercial301 264 849 534 
Total revenue$14,463 $12,813 $33,705 $30,011 
Revenue by Contract Type1
Fixed-price$1,299 $1,683 $4,063 $5,222 
Cost-plus10,090 8,503 20,685 17,859 
Variable3,074 2,627 8,957 6,930 
Total revenue$14,463 $12,813 $33,705 $30,011 
1
Certain contracts contain multiple revenue streams with characteristics that lend to classification in more than one category
For the three and nine months ended September 30, 2023, the Company recognized revenue from incentive fees of $4.8 million, stemming from triggering events for three operating assets on October 1, 2023 pursuant to the terms of the 2022 AMA (see Note 14 for additional information). These operating asset triggering events are part of a series of annual operating asset triggering events that began on October 1, 2022 and are scheduled each October 1 through 2024. All incentive fees recognized in the current period are related to services performed in prior periods for which revenue recognition criteria were previously constrained. Incentive fee revenue recognized for the three and nine months ended September 30, 2022 was $3.9 million.