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Stock-based Compensation (Tables)
9 Months Ended
Sep. 30, 2024
Share-Based Payment Arrangement [Abstract]  
Schedule of Stock-based Compensation Expense
Total stock-based compensation was recognized as follows (in thousands):

Three Months Ended September 30,Nine Months Ended September 30,
2024202320242023
General and administrative$1,859 $1,196 $4,376 $4,093 
Sales and marketing365 3941,076 1,362
Research and development490 6201,594 2,188
Total stock-based compensation$2,714 $2,210 $7,046 $7,643