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Revenue, Contract Balances (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Revenue [Abstract]    
Revenue recognized $ 400  
Contract liabilities [Abstract]    
Unbilled receivables, current 155 $ 145
Unbilled receivables, net of current portion 103 120
Customer pre-payments (123) (155)
Deferred revenue, current (925) (1,079)
Deferred revenue, net of current portion (196) (209)
Total net contract liabilities $ (986) $ (1,178)