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Property and Equipment
 12 Months Ended
Dec. 31, 2023
Property, Plant and Equipment [Abstract]  
PROPERTY AND EQUIPMENT PROPERTY AND EQUIPMENT
Property and equipment, net is comprised of the following (in thousands):
 December 31,
 20232022
Computer equipment and software$15,990 $15,144 
Leasehold improvements14,802 12,636 
Building and improvements3,517 3,517 
Engineering and test equipment1,061 1,317 
Furniture and fixtures506 670 
Property and equipment, gross35,876 33,284 
Less: accumulated depreciation(24,310)(21,946)
Property and equipment, net$11,566 $11,338 
Depreciation expense was $4.1 million, $4.9 million and $5.6 million in 2023, 2022 and 2021, respectively.