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Balance Sheet Components - Accrued Liabilities and Other (Details) - USD ($)
$ in Thousands
Mar. 31, 2023
Dec. 31, 2022
Accrued Liabilities and Other    
Accrued compensation and related expenses $ 7,487 $ 11,365
Accrued royalty 996 818
Accrued professional services 652 355
Others 761 973
Accrued liabilities and other $ 9,896 $ 13,511