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Balance Sheet Components - Schedule of Inventory (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Balance Sheet Related Disclosures [Abstract]    
Raw materials $ 6,450 $ 9,269
Work in process 278 427
Finished goods 4,346 5,766
Total inventory $ 11,074 $ 15,462