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Select balance sheet data - Schedule of Inventories (Details) - USD ($)
$ in Thousands
Jun. 30, 2023
Dec. 31, 2022
Select balance sheet data    
Finished goods and purchased parts $ 31,069 $ 44,728
Raw materials 26,998 17,003
Work-in-process 8,761 9,977
Total $ 66,828 $ 71,708