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Inventories - Components of Inventory (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
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Inventory Disclosure [Abstract] |  |  |
Raw materials | $ 5,299 | $ 5,800 |
Finished goods | 13,660 | 18,130 |
Inventories | 18,959 | 23,930 |
Less reserve for excess and obsolete inventory | (6,121) | (8,210) | $ (10,141)
Inventories, net | $ 12,838 | $ 15,720 |

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