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Statements of Income and Comprehensive Income (Parenthetical) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022
Operating expenses include stock-based compensation as follows: |  |
Total stock-based compensation | $ 5,005 | $ 4,408
Research and Development |  |
Operating expenses include stock-based compensation as follows: |  |
Total stock-based compensation | 1,981 | 1,704
General and Administrative |  |
Operating expenses include stock-based compensation as follows: |  |
Total stock-based compensation | 2,519 | 2,190
Sales and Marketing |  |
Operating expenses include stock-based compensation as follows: |  |
Total stock-based compensation | $ 505 | $ 514

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