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The urban areas created by the US Census Bureau "represent densely developed territory, and encompass residential, commercial, and other nonresidential urban land uses. Each urban area must encompass at least 2,000 housing units or at least 5,000 people." They were created by the Bureau following the 2020 census based on the population and housing unit density of individual blocks.
The 2020 Census increased the urban population and housing unit count requirements for the first time since 1910, resulting in differences between the 2010 and 2020 boundaries beyond those resulting from population change. In addition, they also stopped distinguishing between "urbanized areas" and "urban clusters" and renamed areas as needed to reflect the updated boundaries.
Please see the US Census Bureau website for more information.