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Revenue from Contracts with Customers (Tables)
3 Months Ended
Mar. 31, 2024
Revenue from Contract with Customer [Abstract]  
Disaggregation of revenue
The following table summarizes net sales from contracts with customers for the three months ended March 31, 2024 and 2023:

Three Months Ended
March 31,
20242023
Service - over time$25,038 $28,740 
Product - point in time4,229 5,403 
 Total net sales$29,267 $34,143