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Details of Certain Financial Statement Components - Changes in the carrying amount of goodwill (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Mar. 17, 2023
Changes in the carrying amount of goodwill    
Balance at the beginning of the year $ 650  
Goodwill acquired in acquisition 2,461  
Adjustment to goodwill, acquisition price allocation of SPEC/KWJ (404)  
Adjustment to goodwill, foreign currency exchange rate changes 151  
Balance at the end of the year 2,461  
SPEC/KWJ    
Changes in the carrying amount of goodwill    
Balance at the beginning of the year 650  
Goodwill acquired in acquisition    
Calman    
Changes in the carrying amount of goodwill    
Goodwill acquired in acquisition 2,064 $ 2,064
Balance at the end of the year $ 2,064