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Restructuring
6 Months Ended
Jun. 30, 2024
Restructuring and Related Activities [Abstract]  
Restructuring Restructuring
In January 2023, the Company initiated measures to reduce headcount to pursue greater cost efficiency and align strategic initiatives. These measures were substantially completed by June 30, 2023, and the total cost was $3.6 million. During this period, 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 CostsThree Months Ended
June 30, 2023
Six 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 Company has completed its remaining payments for severance and termination related liabilities as of December 31, 2023.