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Summary of Significant Accounting Policies - Contract Balances (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Jan. 01, 2022
Accounting Policies [Abstract]      
Accounts Receivable, net $ 10,901 $ 6,259 $ 5,913
Contract Liabilities, which are included in deferred license revenue $ 521 $ 4,331 $ 8,157