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Inventory (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Inventory Disclosure [Abstract] |  |  |
Finished goods | $ 13,545 | $ 12,651 |
Work in process | 2,120 | 1,026 |
Raw materials | 7,355 | 5,228 |
Inventory | 23,020 | 18,905 |
Provision for inventory write-down | 1,939 | 1,769 | $ 3,314
Inventory reserves | $ 1,342 | $ 1,221 |

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