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Revenue
 12 Months Ended
Dec. 31, 2023
Revenue from Contract with Customer [Abstract]  
Revenue Revenue
All the Company's revenue was for the years ended December 31, 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):
Year Ended December 31,
20232022
Revenue by Line of Business
Asset management$29,278 $26,680 
Property management10,6049,398
Parking management4,8393,235
Total revenue$44,721 $39,313 

Year Ended December 31,
20232022
Revenue by Customer Type
Related party$43,568 $38,719 
Commercial1,153 594 
Total revenue$44,721 $39,313 

Year Ended December 31,
20232022
Revenue by Contract Fee Type1
Fixed-price$6,255 $7,048 
Cost-plus26,170 22,652 
Variable12,296 9,613 
Total revenue$44,721 $39,313 
1 Certain contracts contain multiple revenue streams with characteristics that lend to classification in more than one category.
For the years ended December 31, 2023, and 2022 the Company recognized revenue from incentive fees of $4.8 million and $3.9 million, respectively. The incentive fee revenue recognized in both periods stemmed from scheduled annual triggering events for operating assets that began on October 1, 2022, and are scheduled each October 1 through 2024, pursuant to the terms of the 2022 AMA. All Incentive Fees recognized to date have been related to services performed in prior periods for which revenue recognition criteria were previously constrained. Subsequent to these scheduled triggering events, and in accordance with terms pursuant to the 2022 AMA, incentive fees may be recognized on assets currently under development upon the achievement of future triggering events tied to various metrics that indicate stabilization, such as occupancy and leasing rates. (See Note 14 in the Notes to Consolidated Financial Statements for additional information).