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Balance Sheet Components - Accounts Receivable (Details) - USD ($) $ in Thousands | Sep. 30, 2023 | Dec. 31, 2022 | Sep. 30, 2022 | Dec. 31, 2021
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Accounts Receivable, after Allowance for Credit Loss [Abstract] |  |  |  |
Accounts receivable, gross | $ 10,191 | $ 10,124 |  |
Less: allowance for doubtful accounts | (26) | (77) | $ (26) | $ (36)
Accounts receivable, net | $ 10,165 | $ 10,047 |  |

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