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Restructuring (Tables)
6 Months Ended
Jun. 30, 2024
Restructuring and Related Activities [Abstract]  
Restructuring and Related 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