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Balance Sheet Components - Narrative (Details) - USD ($)
3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Dec. 31, 2023
Business Acquisition [Line Items]          
Impairment of capitalized software development costs $ 1,700,000   $ 1,717,000 $ 0  
Depreciation expense 300,000 $ 300,000 700,000 700,000  
Goodwill 2,333,000   2,333,000   $ 2,333,000
Amortization expense related to intangibles (less than for 3 mo June 30, 2023 and 6 mo June 30, 2024) 0 $ 100,000 100,000 100,000  
Emphasys Medical, Inc          
Business Acquisition [Line Items]          
Goodwill $ 2,300,000   2,300,000   $ 2,300,000
Goodwill acquired     0 0  
Goodwill disposed of     0 $ 0  
Goodwill, impairment loss     $ 0