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Stock-Based Compensation
 3 Months Ended
Mar. 31, 2024
Share-Based Payment Arrangement [Abstract]  
Stock-Based Compensation Stock-Based Compensation
Stock-based compensation expense is included in the following line items in the condensed consolidated statements of operations (in thousands):
 Three Months Ended
March 31,
 20242023
Cost of hardware and other revenue
$1 $— 
Sales and marketing755 1,032 
General and administrative3,181 3,145 
Research and development7,331 8,509 
Total stock-based compensation expense$11,268 $12,686 

The following table summarizes the components of non-cash stock-based compensation expense (in thousands):
 Three Months Ended
March 31,
 20242023
Stock options$987 $912 
Restricted stock units10,230 11,722 
Employee stock purchase plan51 52 
Total stock-based compensation expense$11,268 $12,686 
Tax windfall benefit / (shortfall) from stock-based awards
$486 $(22)
We granted 6,000 and 21,400 stock options pursuant to our 2015 Equity Incentive Plan during the three months ended March 31, 2024 and 2023, respectively. There were 128,526 stock options exercised during the three months ended March 31, 2024, as compared to 70,951 stock options for the same period in the prior year. There was an aggregate of 88,150 restricted stock units without performance conditions granted to certain of our employees during the three months ended March 31, 2024, as compared to an aggregate of 82,875 restricted stock units without performance conditions for the same period in the prior year. There were no restricted stock units with performance conditions granted to our employees during the three months ended March 31, 2024 and 2023. There were 81,696 restricted stock units without performance conditions that vested during the three months ended March 31, 2024, as compared to 167,085 restricted stock units without performance conditions vested during the same period in the prior year. There were no restricted stock units with performance conditions that vested during the three months ended March 31, 2024, as compared to 9,000 restricted stock units with performance conditions vested for the same period in the prior year.