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Stockholders' Equity
 3 Months Ended
Mar. 31, 2024
Share-Based Payment Arrangement [Abstract]  
Stockholders' Equity Stockholders' Equity
Equity Compensation Plans

Stock-based compensation expense was included in the condensed consolidated statements of operations as follows:
Three months ended March 31,
(in thousands)20242023
Cost of revenues$1,178 $1,146 
Research and development3,998 3,775 
Sales and marketing2,031 1,590 
General and administrative6,345 4,733 
Total stock-based compensation expenses$13,552 $11,244