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Revenue from Contracts with Customers (Tables)
6 Months Ended
Jun. 30, 2024
Revenue from Contract with Customer [Abstract]  
Disaggregation of revenue
The following table summarizes net sales from contracts with customers for the six months ended June 30, 2024 and 2023:

Three Months EndedSix Months Ended
June 30,June 30,
2024202320242023
Service - over time24,674 28,746 $49,712 $57,486 
Product - point in time$3,999 $4,840 8,228 10,243 
 Total net sales$28,673 $33,586 $57,940 $67,729