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Stock-Based Compensation (Tables)
 6 Months Ended
Jun. 30, 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
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)