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Revenue Recognition - Schedule of Contract Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Contract with Customer, Asset, Net [Abstract]    
Current contract assets $ 37 $ 1,898
Long-term contract assets 0 31
Total contract assets 37 1,929
Capitalized Contract Cost [Abstract]    
Current capitalized commissions 935 800
Long-term capitalized commissions 53 715
Total capitalized commissions 988 1,515
Contract with Customer, Liability [Abstract]    
Current contract liabilities 2,130 7,557
Long-term contract liabilities 0 19
Total contract liabilities $ 2,130 $ 7,576