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Revenue, Deferred Revenue, and Deferred Device and Contract Costs - Deferred Device and Contract Costs (Details) - USD ($)
$ in Thousands
Mar. 31, 2024
Dec. 31, 2023
Revenue from Contract with Customer [Abstract]    
Deferred device and contract costs, current $ 34,199 $ 32,703
Deferred device and contract costs, noncurrent 17,344 17,573
Total deferred device and contract costs $ 51,543 $ 50,276