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Accrued Liabilities
 3 Months Ended
Mar. 31, 2024
Payables and Accruals [Abstract]  
Accrued Liabilities ACCRUED LIABILITIES
Accrued liabilities consist of the following:
As of March 31, 2024As of December 31, 2023
Accrued compensation and benefits$13,212 $15,347 
Accrued restructuring costs1,206 1,609 
Accrued warranties2,671 2,831 
Professional and legal fees3,146 2,851 
Accrued interest681 1,712 
Taxes other than income3,226 3,313 
Other accrued liabilities2,425 2,267 
Total accrued liabilities$26,567 $29,930 

Activity related to accrued warranties was as follows:
 Three Months Ended March 31,
 20242023
Balance, beginning of period$2,831 $2,610 
Provision for warranty expense837 736 
Fulfillment of warranty obligations(997)(664)
Balance, end of period$2,671 $2,682