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Commitments and Contingencies - Royalty Obligations (Details) - USD ($) $ in Millions |  | 1 Months Ended | 3 Months Ended |
--- | --- | --- | --- | ---
Apr. 22, 2024 | Jul. 31, 2019 | Mar. 31, 2024 | Mar. 31, 2023 | Dec. 31, 2018
Other Commitments [Line Items] |  |  |  |  |
Contingent liability |  |  | $ 4.6 |  |
Subsequent Event |  |  |  |  |
Other Commitments [Line Items] |  |  |  |  |
Litigation settlement, amount agreed upon | $ 4.6 |  |  |  |
Cost of revenue |  |  |  |  |
Other Commitments [Line Items] |  |  |  |  |
Royalty expense |  |  | 0.6 | $ 0.7 |
Royalty Agreement, March 2005 |  |  |  |  |
Other Commitments [Line Items] |  |  |  |  |
Minimum annual royalty payments |  |  |  |  | $ 0.1
Extended term of agreement |  | 10 years |  |  |
Increase in minimum annual royalty payments |  | $ 0.2 |  |  |
Minimum quarterly royalty payments |  |  | $ 0.3 |  |

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