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Balance Sheet Components - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Property and Equipment, Net
Total property and equipment	$ 25,770	$ 28,911
Accumulated depreciation and amortization	(20,651)	(20,157)
Property and equipment, net	5,119	8,754
Machinery and equipment
Property and Equipment, Net
Total property and equipment	13,124	12,944
Computer equipment and software
Property and Equipment, Net
Total property and equipment	3,546	3,183
Furniture and fixtures
Property and Equipment, Net
Total property and equipment	1,055	1,258
Leasehold improvements
Property and Equipment, Net
Total property and equipment	5,751	6,198
Finance lease right of use assets
Property and Equipment, Net
Total property and equipment	$ 2,294	4,632
Construction in progress
Property and Equipment, Net
Total property and equipment		$ 696

X

- Definition

Amount of accumulated depreciation and amortization from plant, property, and equipment and right-of-use asset from finance lease.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 360
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (c)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482099/360-10-50-1

Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef
-Name Accounting Standards Codification
-Section 45
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-Subparagraph (a)
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-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479041/842-20-45-4

Reference 3: http://www.xbrl.org/2009/role/commonPracticeRef
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-Publisher FASB
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Amount, after accumulated depreciation and amortization, of property, plant, and equipment and finance lease right-of-use asset.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 360
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482099/360-10-50-1

Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef
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-URI https://asc.fasb.org//1943274/2147478964/842-20-50-4

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Amount, before accumulated depreciation and amortization, of property, plant, and equipment and finance lease right-of-use asset.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 360
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 1
-Subparagraph (b)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482099/360-10-50-1

Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 210
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-Name Accounting Standards Codification
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-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480566/210-10-S99-1

Reference 3: http://www.xbrl.org/2009/role/commonPracticeRef
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