There are no quotes around timestamp, so that is a Logstash::TimeStamp, not a string. A date filter cannot parse a Logstash::Timestamp.
I am not familiar with kinesis but I know that for jdbc the input will convert datetimes in the database into Logstash::Timestamp for you, so you do not need a date filter. It may be the same for kinesis.
If adding
mutate { convert {"timestamp" => "string"} }
makes the error go away then you can just delete the date filter.
I apologize, I should have stated I was using the JSON codec with the Kinesis input for clarity.
As it turns out, I don't need either the date filter or the mutate to make it work. I inherited the configuration and just assumed that it was working all along. I had never checked the output and thus did not see the _dateparsefailure messages until now.
Thank you, and thanks for the link to the issue. I searched Logstash issues but not the specific plugin repository issues; now I know better.
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