Legacy System Heartbeat Monitor

You work as a backend engineer at Glassdoor. The company relies on multiple legacy systems to aggregate and process job postings, salary data, and company reviews. To ensure reliable data ingestion and processing, you are tasked with building a monitoring service that tracks the health of these legacy systems via regular heartbeat signals.

The service must expose one endpoint to receive heartbeat signals from each legacy system, and another endpoint to return a list of systems that have not sent a heartbeat in the last five seconds. How would you architect this monitoring system? Write a technical design document describing your approach.