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Revenue, Contract Assets and Contract Liabilities (Details) - USD ($) $ in Thousands | 3 Months Ended |
--- | --- | ---
Mar. 31, 2024 | Mar. 31, 2023 | Dec. 31, 2023
Revenue, Contract Assets and Contract Liabilities |  |  |
Revenues | $ 1,102 | $ 894 |
Cost of goods sold | 665 | $ 788 |
Contract assets | 0 |  | $ 188
Contract liabilities | 1,038 |  | $ 1,116
Revenue recognized | $ 253 |  |

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