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Summary of Significant Accounting Policies - Contract Liabilities (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Accounting Policies [Abstract]    
Deferred revenue, Balance at Beginning of Period $ 3,740 $ 3,933
Deferred revenue, Billings 7,104 6,486
Deferred revenue, Revenue Recognized (7,111) (6,679)
Deferred revenue, Balance at End of Period $ 3,733 $ 3,740