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Composition of Other Balance Sheet Items - Inventories (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Organization, Consolidation and Presentation of Financial Statements [Abstract]    
Raw materials $ 16,274 $ 24,820
Work in process 31,212 31,710
Finished goods 29,922 35,011
Total inventories 77,408 91,541
Inventory write-offs $ 8,000 $ 10,400