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Revenue from Contracts with Customers (Tables)
12 Months Ended
Dec. 31, 2023
Revenue from Contract with Customer [Abstract]  
Disaggregation of revenue
The following table summarizes net sales from contracts with customers for the years ended December 31, 2023 and 2022:
Year Ended
December 31,
20232022
Product - point in time$17,757 $26,842 
Service - over time114,622 111,908 
   Total net sales$132,379 $138,750