Which type of rock is formed from the cooling of magma or lava?

Igneous rock is formed from the cooling and solidification of magma or lava. When magma, which is found beneath the Earth's surface, erupts onto the surface as lava, it cools and crystallizes to form igneous rock. This type of rock can be classified further into two categories: intrusive (or plutonic) igneous rock, which forms when magma cools slowly beneath the Earth's surface, allowing large crystals to develop, and extrusive (or volcanic) igneous rock, which forms when lava cools quickly on the surface, resulting in finer crystals. The characteristics of igneous rocks, such as texture and mineral composition, provide important insights into their formation and the geological processes involved.