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Revenue - Contract Liabilities (Details) - USD ($) $ in Thousands | 3 Months Ended | 12 Months Ended
--- | --- | ---
Mar. 31, 2024 | Dec. 31, 2023 | Dec. 31, 2022
Change in contract liabilities |  |  |
Beginning balance | $ 2,065 | $ 297 | $ 75
Prepayments and adjustments | (711) | 2,552 | 570
Revenue recognition | (200) | (784) | (348)
Ending balance | 1,154 | 2,065 | 297
Contract liabilities, non-current | $ 238 | $ 121 | $ 10
Software as a service and related services | Minimum |  |  |
Revenue |  |  |
Contract period of SaaS subscriptions and related services | 12 months | 12 months |
Software as a service and related services | Maximum |  |  |
Revenue |  |  |
Contract period of SaaS subscriptions and related services | 60 months | 36 months |

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