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Supplemental Consolidated Financial Statement Information - Prepaid expenses and other current assets (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
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Supplemental Consolidated Financial Statement Information |  |
Contract assets | $ 4,318 | $ 5,433
Prepaid expenses | 3,197 | 2,271
Other assets | 1,139 | 1,247
Other current assets | $ 8,654 | $ 8,951

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