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Composition of Certain Financial Statement Captions - Schedule of Property and Equipment, Net (Details) - USD ($)
$ in Thousands
Jun. 30, 2024
Dec. 31, 2023
Property, Plant and Equipment [Line Items]    
Total property and equipment $ 23,047 $ 22,304
Less: accumulated depreciation and amortization (16,343) (15,333)
Total property and equipment, net 6,704 6,971
Equipment, furniture and other    
Property, Plant and Equipment [Line Items]    
Total property and equipment 16,821 17,267
Leasehold improvements    
Property, Plant and Equipment [Line Items]    
Total property and equipment $ 6,226 $ 5,037