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Revenue from Contracts with Customers - Schedule of Customer Contract Balances (Details) - USD ($)
$ in Thousands
Jun. 30, 2023
Dec. 31, 2022
Revenue from Contract with Customer [Abstract]    
Current contract assets $ 1,162 $ 1,243
Non-current contract assets 2,757 3,033
Contract liabilities 1,708 1,743
Long-term contract liabilities 4,220 4,315
Deferred income, current $ 1,602 $ 1,365