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Stock-Based Compensation
 6 Months Ended
Jun. 30, 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
June 30,		Six Months Ended
June 30,
 2024202320242023
Cost of hardware and other revenue
$1 $— $2 $— 
Sales and marketing724 892 1,479 1,924 
General and administrative3,303 3,468 6,484 6,613 
Research and development7,185 7,571 14,516 16,080 
Total stock-based compensation expense$11,213 $11,931 $22,481 $24,617 

The following table summarizes the components of non-cash stock-based compensation expense (in thousands):
 Three Months Ended
June 30,		Six Months Ended
June 30,
 2024202320242023
Stock options$1,146 $1,071 $2,133 $1,983 
Restricted stock units10,017 10,819 20,247 22,541 
Employee stock purchase plan50 41 101 93 
Total stock-based compensation expense$11,213 $11,931 $22,481 $24,617 
Tax windfall benefit / (shortfall) from stock-based awards
$645 $(669)$1,131 $(691)

We granted 93,500 and 99,500 stock options pursuant to our 2015 Equity Incentive Plan during the three and six months ended June 30, 2024, respectively, as compared to 172,000 and 193,400 stock options for the same periods in the prior year. There were 14,467 and 142,993 stock options exercised during the three and six months ended June 30, 2024, respectively, as compared to 12,184 and 83,135 stock options for the same periods in the prior year. There was an aggregate of 241,728 and 329,878 restricted stock units without performance conditions granted to certain of our employees and directors during the three and six months ended June 30, 2024, respectively, as compared to an aggregate of 103,522 and 186,397 restricted stock units without performance conditions for the same periods in the prior year. There were no restricted stock units with performance conditions granted to our employees during the three and six months ended June 30, 2024 and 2023. There were 209,087 and 290,783 restricted stock units without performance conditions that vested during the three and six months ended June 30, 2024, respectively, as compared to 226,865 and 393,950 restricted stock units without performance conditions vested during the same periods in the prior year. There were 33,395 restricted stock units with performance conditions that vested during each of the three and six months ended June 30, 2024, as compared to 30,406 and 39,406 restricted stock units with performance conditions, respectively, vested for the same periods in the prior year.