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Summary of Significant Accounting Policies - Accounts Receivable (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Accounts receivable    
Trade accounts receivable $ 10,170 $ 10,498
Unbilled accounts receivable 229 551
Allowance for product returns and price adjustments (311) (384)
Accounts receivable, net $ 10,088 $ 10,665