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Balance Sheet Details - Schedule of Other Long-Term Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Balance Sheet Related Disclosures [Abstract]    
Income tax-related liabilities $ 5,838 $ 6,526
Contract liabilities 2,561 3,047
Royalties 1,065 5,739
Other 1,739 1,777
Other long-term liabilities $ 11,203 $ 17,089