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Balance Sheet Account Details - Accrued Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Other Balance Sheet Details [Abstract]    
Compensation $ 4,682 $ 6,201
Professional fees 2,394 662
Customer deposit 621 621
Amounts owed to former licensees 45 3,989
Royalties owed to third parties 900 12
Subcontractor 1,756 1,756
Supplier 303 634
Other 1,766 1,806
Accrued liabilities $ 12,467 $ 15,681