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Composition of Other Balance Sheet Items - Inventories (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Organization, Consolidation and Presentation of Financial Statements [Abstract]    
Raw materials $ 21,556 $ 24,820
Work in process 26,966 31,710
Finished goods 34,958 35,011
Total inventories $ 83,480 $ 91,541