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Schedule of Accrued Expenses (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
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Organization, Consolidation and Presentation of Financial Statements [Abstract] |  |
Customer allowances | $ 8,148 | $ 4,130
Employee-related liabilities | 1,755 | 1,365
Warranties | 518 | 636
Accrual for goods received not invoiced | 325 | 301
Contractual obligations | 59 | 1,107
Royalties | 327 | 256
Contract fulfillment costs | 568 | 1,469
Credits due to customers | 122 | 961
Returns allowance | 6 | 6
Legal | 168 | 296
Other | 237 | 165
Accrued liabilities | $ 12,233 | $ 10,692

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