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Basis of Presentation and Summary of Significant Accounting Policies - Accrued Liabilities and Other Long-Term Liabilities (Details) - USD ($) $ in Thousands | Sep. 30, 2023 | Dec. 31, 2022
--- | --- | ---
Accrued Liabilities |  |
Compensation | $ 2,890 | $ 6,201
Subcontractor | 1,966 | 1,756
Professional fees | 3,229 | 662
Customer deposit | 621 | 621
Supplier | 303 | 634
Royalties owed to third parties | 0 | 12
Amounts owed to former licensees | 45 | 3,989
Other | 1,581 | 1,806
Accrued liabilities | $ 10,635 | $ 15,681

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