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Restructuring
 6 Months Ended
Jun. 30, 2023
Restructuring and Related Activities [Abstract]  
Restructuring RestructuringIn January 2023, the Company initiated measures to reduce headcount to pursue greater cost efficiency and align strategic initiatives. These measures were substantially completed during the six months ended June 30, 2023, and the total cost was $3.6 million. During the six months ended June 30, 2023, approximately 1% and 4% of the Company’s workforce terminated employment, which were voluntary and involuntary terminations, respectively. As a result, the Company incurred employee termination expenses and other associated costs.
A summary of the restructuring charges as reported on the condensed consolidated statements of operations for the three and six months ended June 30, 2023, of which $0.7 million were related to involuntary terminations, is as follows (in thousands):
Severance and other Personnel Costs
Three Months Ended June 30, 2023Six Months Ended
June 30, 2023
Research and development$1,147 $2,299 
Sales and marketing— 1,025 
General and administrative— 280 
Total$1,147 $3,604 

The following table is a summary of the charges in the severance and other personnel liabilities, included within accrued expenses and other current liabilities on the condensed consolidated balance sheets, related to the workforce reduction (in thousands):

Balance as of January 1, 2023$— 
Severance and other personnel costs$3,604 
Cash payments during the period$(2,994)
Balance as of June 30, 2023(1)
$610 
(1) The company expects the remaining severance and termination related liabilities to be substantially paid out in cash during the third quarter of 2023.