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Stock-based Compensation (Tables)
 12 Months Ended
Dec. 31, 2024
Share-Based Payment Arrangement [Abstract]  
Share-Based Payment Arrangement, Option, Activity
A summary of stock option activity for the year ended December 31, 2024 is as follows:
Number
of Options		Weighted-Average Exercise PriceWeighted-Average Remaining Contractual Term (years)Intrinsic Value (in thousands)
Balance as of December 31, 20234,909,302$1.55 5.58$3,393 
Granted ——
Forfeited (118,463)4.13 
Exercised(1,026,285)0.92 
Expired (530,258)2.68 
Outstanding at December 31, 20243,234,296$1.50 4.55$5,574 
Exercisable at December 31, 20243,172,016$1.42 4.51$5,532 
Share-Based Payment Arrangement, Restricted Stock Unit, Activity
A summary of RSU activity for the year ended December 31, 2024 is as follows:
Number
of RSUs		Weighted Average Grant-Date ValueIntrinsic Value (in thousands)
Outstanding unvested RSUs at December 31, 20233,229,915$2.25 $5,652 
Granted during the year2,576,3831.07 
Forfeited during the year(1,534,865)2.20 
Vested during the year (1)(1,378,037)1.89 
Outstanding unvested RSUs at December 31, 20242,893,396$2.52 $8,246 

(1) The issuance of Class A common stock was deferred, as elected by the grantees, for 264,516 and 121,384 RSUs that vested during the years ended December 31, 2024 and December 31, 2023, respectively.
Share-Based Payment Arrangement, Expensed and Capitalized, Amount
Total employee and non-employee stock-based compensation expense was classified in the Consolidated Statements of Operations and Comprehensive Loss as follows:

Year Ended December 31,
20242023
Selling, general and administrative$2,015 $3,952 
Engineering320 2,347 
Total$2,335 $6,299