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Restructuring (Tables)
 3 Months Ended
Mar. 31, 2024
Restructuring and Related Activities [Abstract]  
Restructuring and Related Costs
A summary of the restructuring charges as reported on the condensed consolidated statements of operations for the three months ended March 31, 2023, of which $0.7 million were related to involuntary terminations, is as follows (in thousands):

Severance and other Personnel CostsThree Months Ended March 31, 2023
Research and development$1,152 
Sales and marketing1,025 
General and administrative280 
Total$2,457