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Summary of Significant Accounting Policies - Deferred Revenue (Details) - Product and service revenue - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Revenue Recognition      
Contract assets $ 0   $ 0
Summary of the activity of the Company's deferred revenue related to product and service revenue      
Balances at beginning of period 16,510 $ 14,521  
Recognition of revenue included in balance at beginning of the period (2,030) (1,375)  
Revenue deferred during the period, net of revenue recognized 1,907 1,691  
Balances at end of period $ 16,387 $ 14,837  
Minimum      
Revenue Recognition      
Payment terms for customer receivables 30 days    
Maximum      
Revenue Recognition      
Payment terms for customer receivables 90 days