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Balance Sheet Components - Product Warranty (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Product Warranty, Increase (Decrease) [Roll Forward]      
Balance at the beginning of the year $ 5,370 $ 4,310 $ 2,896
Accruals of warranties issued 1,865 2,451 2,973
Settlements of warranty claims (1,480) (1,391) (1,559)
Balance at the end of the year $ 5,755 $ 5,370 $ 4,310