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Balance Sheets Details - Accrued Liabilities (Details) - USD ($) | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
--- | --- | --- | ---
Components of accrued liabilities |  |  |
Payable in connection with construction in progress | $ 7,249,000 | $ 4,135,000 |
Accrued compensation and related charges | 3,707,000 | 4,774,000 |
Preferred stock dividends payable | 2,901,000 | 2,901,000 |
Accrued professional services | 868,000 | 930,000 |
Accrued product warranty | 703,000 | 669,000 | $ 743,000
Other tax payable | 493,000 | 867,000 |
Current portion of operating lease liabilities | 458,000 | 485,000 |
Advances from customers | 305,000 | 338,000 |
Other personnel-related costs | 286,000 | 291,000 |
Accrual for sales returns | 39,000 | 112,000 |
Accrued income taxes |  | 729,000 |
Other accrued liabilities | 2,010,000 | 1,933,000 |
Accrued liabilities, Total | $ 19,019,000 | $ 18,164,000 |

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