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Balance Sheet Components - Leases (Details) - USD ($) $ in Thousands | 3 Months Ended | 12 Months Ended
--- | --- | ---
Mar. 31, 2023 | Dec. 31, 2023 | Dec. 31, 2022
Leases |  |  |
Expiration term (in years) |  | 4 years |
Components of lease expense |  |  |
Operating lease expense |  | $ 772 | $ 733
Finance lease expense |  |  |
Finance lease right-of-use amortization | $ 4 | 14 | 18
Interest on lease liabilities |  | 1 | 2
Total finance lease expense |  | 15 | 20
Total Operating and Finance lease expense |  | 787 | 753
Cash Paid For Amounts Included In The Measurement Of Lease Liabilities |  |  |
Cash used in operations for operating leases |  | 766 | 770
Cash used in operations for finance leases |  | 1 | 2
Payments made on finance leases |  | 17 | 24
ROU assets obtained in exchange for lease obligations: |  |  |
Operating leases |  | $ 1,476 | $ 826
Weighted average remaining lease term: |  |  |
Operating leases |  | 2 years 3 months | 3 years 6 months 25 days
Finance leases |  |  | 10 months 24 days
Weighted average discount rate: |  |  |
Operating leases |  | 4.66% | 4.00%
Finance leases |  |  | 9.70%
Maturities of lease liabilities under noncancellable leases |  |  |
2024 |  | $ 743 |
2025 |  | 712 |
2026 |  | 169 |
Total undiscounted lease payments |  | 1,624 |
Less: imputed interest |  | (94) |
Total lease liabilities |  | $ 1,530 |
Minimum |  |  |
Leases |  |  |
Renewal term (in years) |  | 2 years |
Maximum |  |  |
Leases |  |  |
Renewal term (in years) |  | 4 years |

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