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Balance Sheet Components - Accrued Liabilities and Current Portion of Long-Term Liabilities (Details) - USD ($) $ in Thousands | Sep. 30, 2023 | Dec. 31, 2022
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Balance Sheet Related Disclosures [Abstract] |  |
Accrued payroll and related liabilities | $ 3,938 | $ 3,632
Operating lease liabilities, current | 2,423 | 1,391
Current portion of accrued liabilities for asset financings | 1,295 | 876
Deferred revenue | 400 | 230
Accrued interest payable | 88 | 246
Accrued commissions and royalties | 30 | 210
Other | 2,029 | 2,264
Accrued liabilities and current portion of long-term liabilities | $ 10,203 | $ 8,849

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