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Revenue Recognition (Tables)
3 Months Ended
Mar. 31, 2024
Revenue from Contract with Customer [Abstract]  
Schedule of contract liability
        
   March 31, 2024   December 31, 2023 
Balance at beginning of period  $439   $455 
Additions   1,565    4,727 
Revenue recognized   (1,089)   (4,743)
Balance at end of period  $915   $439