California cleared the way for Waymo to deploy driverless vehicles in San Francisco and Los Angeles after they were suspended over a lawsuit.

The approval from the California Public Utilities Commission occurred on Friday, KRON4 reported. The self-driving car company sought to expand into the two major cities but was halted when San Francisco City Attorney David Chiu sued the commission over safety concerns in January. While CPUC said last week that the expansion was paused pending “further review,” it reversed its decision after Waymo provided an updated Passenger Safety Plan.