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Revenue, Contract Assets and Contract Liabilities (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended |
--- | --- | --- | ---
Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023 | Dec. 31, 2023
Revenue, Contract Assets and Contract Liabilities |  |  |  |  |
Revenues | $ 45 | $ 150 | $ 1,147 | $ 1,044 |
Cost of goods sold | 3 | $ 21 | 668 | $ 809 |
Contract assets | 5 |  | 5 |  | $ 188
Contract liabilities | 825 |  | 825 |  | $ 1,116
Revenue recognized | $ 0 |  | $ 253 |  |

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