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Deferred Revenues - Additional Information (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]    
Recognition of deferred revenues $ 477 $ 483
Recognition of deferred revenues related to correction of immaterial misstatements $ 330  
Minimum    
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]    
Service period of the performance obligations 5 months  
Maximum    
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]    
Service period of the performance obligations 27 months