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Other Financial Information - Accrued and Other Current Liabilities (Details) - USD ($) $ in Thousands | Mar. 31, 2024 | Dec. 31, 2023
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Other Financial Information [Abstract] |  |
Accrued payroll and related expenses | $ 3,711 | $ 4,738
Accrued interest | 140 | 139
Accrued purchases of goods and services | 634 | 720
Accrued royalties | 219 | 463
Accrued clinical study activity | 0 | 118
Finance lease obligations, current portion | 438 | 490
Refund liability | 311 | 302
Other accrued liabilities | 587 | 561
Accrued and other current liabilities | $ 6,040 | $ 7,531

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