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Balance Sheet Components - Additional Information (Details) - USD ($)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Balance Sheet Related Disclosures [Abstract]    
Inventory reserves $ 46,000 $ 9,000
Government grants received 1,100,000 800,000
Government grant income 1,000,000 900,000
Depreciation expense $ 1,000,000 $ 900,000