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Income Taxes - Income Tax (Provision) for Federal Statutory Corporate Income Tax Rate (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Taxes
Tax benefit (provision) at federal statutory rate	$ 26	$ (5,768)
State income tax benefit (provision), net of federal benefit	(10)	(1,093)
Research and development tax credits	66	457
Foreign earnings or losses taxed at different rates	(72)	(68)
Tax rate change	(116)	(60)
Other	0	(51)
Change in valuation allowance	(328)	(321)
Tax benefit (provision)	$ (434)	$ (6,904)

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