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Other Financial Information - Accrued Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Other Financial Information [Abstract]    
Accrued payroll and related expenses $ 4,738 $ 2,355
Accrued interest 139 142
Accrued purchases of goods and services 720 803
Accrued royalties 463 514
Accrued clinical study activity $ 118 $ 162
Finance lease, liability, current, statement of financial position Accrued and other current liabilities Accrued and other current liabilities
Finance lease obligations, current portion $ 490 $ 700
Refund liability 302 445
Other accrued liabilities 561 226
Accrued and other current liabilities $ 7,531 $ 5,347