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Stock-Based Compensation (Tables)
 3 Months Ended
Mar. 31, 2024
Share-Based Payment Arrangement [Abstract]  
Schedule of Stock-Based Compensation Expense
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)