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Schedule of Cost and Estimated Earnings in Excess of Billings (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
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Revenue from Contract with Customer [Abstract] |  |  |
Costs incurred on contracts in progress | $ 9,500 | $ 14,390 |
Estimated earnings | 5,083 | 10,926 |
Costs and estimated earnings on uncompleted contracts | 14,583 | 25,316 |
Billings to date | (17,553) | (26,925) |
Net cost in excess of billings | (2,970) | (1,609) |
Deferred revenue related to non-systems contracts | (334) | (263) |
Contract liability in excess of contract assets | (3,304) | (1,872) |
Contract assets | 1,604 | 2,170 | $ 2,500
Contract liabilities | $ 4,908 | $ 4,042 |

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