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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
Total stock-based compensation was recognized as follows (in thousands):

Three Months Ended March 31,
20242023
General and administrative$1,283 $1,436 
Sales and marketing344 492
Research and development600 861
Total stock-based compensation$2,227 $2,789