def format_timestamp(
    seconds: float,
    always_include_hours: bool = False,
    decimal_marker: str = ".",
) -> str:
    assert seconds >= 0, "non-negative timestamp expected"
    milliseconds = round(seconds * 1000.0)

    hours = milliseconds // 3_600_000
    milliseconds -= hours * 3_600_000

    minutes = milliseconds // 60_000
    milliseconds -= minutes * 60_000

    seconds = milliseconds // 1_000
    milliseconds -= seconds * 1_000

    hours_marker = f"{hours:02d}:" if always_include_hours or hours > 0 else ""
    return (
        f"{hours_marker}{minutes:02d}:{seconds:02d}{decimal_marker}{milliseconds:03d}"
    )