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The Company and Summary of Significant Accounting Policies - Revenue Recognition (Details) | 3 Months Ended | 12 Months Ended
--- | --- | ---
Dec. 31, 2023 USD ($) | Dec. 31, 2022 USD ($) | Dec. 31, 2023 USD ($) segment | Dec. 31, 2022 USD ($)
Revenue |  |  |  |
Contract liabilities | $ 305,000 | $ 338,000 | $ 305,000 | $ 338,000
Amounts included in contract balances | $ 9,000 | $ 22,000 | $ 287,000 | $ 760,000
Number of operating segments | segment |  |  | 1 |
Revenue, Practical Expedient, Incremental Cost of Obtaining Contract |  |  | true |
Revenue, Practical Expedient, Financing Component |  |  | true |
Revenue, Practical Expedient, Remaining Performance Obligation |  |  | true |
Maximum |  |  |  |
Revenue Recognition |  |  |  |
Sales commissions benefit period |  |  | 1 year |

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