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Balance Sheet Details - Narrative (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Cash and Cash Equivalents [Line Items]      
Adjusted Cost $ 65,116 $ 113,984 $ 116,797
Prepaid expense, current 4,600 4,800  
Other assets, current 600 700  
Asset impairment charges 1,500    
Goodwill impairment 778 0  
Goodwill 2,463 3,241 $ 3,241
San Carlos      
Cash and Cash Equivalents [Line Items]      
Asset impairment charges 7,700    
Impairment of leasehold 4,700    
Money market funds      
Cash and Cash Equivalents [Line Items]      
Adjusted Cost 56,374 77,309  
Estimated Fair Value 56,374 77,309  
Cash      
Cash and Cash Equivalents [Line Items]      
Adjusted Cost $ 8,700 $ 36,700