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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