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Other Balance Sheet Information - Other long-term assets - (Additional Information) (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Investment in non-affiliated, privately held entity | $ 2,250,000 |  |
Research and Development Expenses |  |  |
Amortization expense on capitalized research and development costs | $ 822,000 | $ 79,000 | $ 0

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