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Intangible Assets, Net - Future Amortization of Patents and License Agreements (Details) - USD ($)
$ in Thousands
Mar. 31, 2024
Dec. 31, 2023
Intangible assets    
Net Carrying Amount $ 4,335 $ 4,099
Patents and License Agreements    
Intangible assets    
2024 (excluding the three months ended March 31, 2024) 189  
2025 252  
2026 250  
2027 247  
2028 247  
Thereafter 3,150  
Net Carrying Amount $ 4,335