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CERTAIN BALANCE SHEET COMPONENTS - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
--- | --- | ---
Property, Plant and Equipment [Line Items] |  |
Property and equipment, gross | $ 147,055 | $ 150,806
Less: accumulated depreciation and amortization | (110,372) | (110,992)
Total | 36,683 | 39,814
Machinery and equipment |  |
Property, Plant and Equipment [Line Items] |  |
Property and equipment, gross | 74,659 | 75,589
Capitalized software |  |
Property, Plant and Equipment [Line Items] |  |
Property and equipment, gross | 27,129 | 30,588
Leasehold improvements |  |
Property, Plant and Equipment [Line Items] |  |
Property and equipment, gross | 40,931 | 39,199
Furniture and fixtures |  |
Property, Plant and Equipment [Line Items] |  |
Property and equipment, gross | 2,547 | 2,739
Construction-in-progress |  |
Property, Plant and Equipment [Line Items] |  |
Property and equipment, gross | $ 1,789 | $ 2,691

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