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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
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