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Deferred contract costs
12 Months Ended
Dec. 31, 2023
Revenue from Contract with Customer [Abstract]  
Deferred contract costs Deferred contract costs
The following table summarizes deferred contract costs activity:
December 31,
20222023
Balance at the beginning of the year$17,678 $18,137 
Capitalization of deferred contract costs10,100 13,488 
Amortization of deferred contract costs(9,641)(10,615)
Balance at the end of the year$18,137 $21,010