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Summary of Significant Accounting Policies - Accounts Receivable (Details) - USD ($) | Dec. 31, 2023 | Dec. 31, 2022
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Accounts receivable |  |
Trade accounts receivable | $ 11,489,000 | $ 10,498,000
Unbilled accounts receivable | 475,000 | 551,000
Allowance for product returns and price adjustments | (410,000) | (384,000)
Accounts receivable, net | $ 11,554,000 | $ 10,665,000

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