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Other Financial Statement Information - Schedule of Changes in Sales Allowance (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Accrued Sales Allowances [Roll Forward]      
Beginning balance $ 4,426 $ 4,862 $ 4,856
Add: increase in sales allowances 6,635 7,217 7,998
Less: utilization of reserves (7,649) (7,653) (7,992)
Ending balance $ 3,412 $ 4,426 $ 4,862