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The Company and Summary of Significant Accounting Policies - Deferred revenue (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
The Company and Summary of Significant Accounting Policies    
Deferred revenue - short term $ 1,741 $ 1,711
Revenue recognized in the year ended related to amounts included in deferred revenue at the beginning of the periods $ 1,466 $ 657