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Leases - Sales-type Lease Future Undiscounted Cash Flows (Details)
$ in Thousands
Dec. 31, 2023
USD ($)
Leases [Abstract]  
2024 $ 4,065
2025 2,087
2026 1,113
2027 593
2028 166
Total undiscounted cash flows 8,024
Present value of lease payments 7,271
Difference between undiscounted cash flows and discounted cash flows  $ 753