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Balance Sheet Components - Accrued Liabilities and Other (Details) - USD ($)
$ in Thousands
Jun. 30, 2024
Dec. 31, 2023
Accrued Liabilities and Other    
Accrued compensation and related expenses $ 8,893 $ 13,464
Accrued royalty 1,581 1,360
Accrued professional services 953 929
Others 2,069 1,699
Accrued liabilities and other $ 13,496 $ 17,452