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Other Financial Information - Accrued Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Other Financial Information [Abstract]    
Accrued payroll and related expenses $ 2,355 $ 4,048
Accrued interest 142 139
Accrued purchases of goods and services 803 510
Accrued royalties 514 180
Accrued clinical study activity 162 254
Finance lease obligations, current portion 700 587
Refund liability 445 0
Other accrued liabilities 226 1,108
Accrued and other current liabilities $ 5,347 $ 6,826