Palantir Technologies Inc. said it has confidentially filed paperwork with the Securities and Exchange Commission to go public, ending an extended wait that made the data analytics company one of Silicon Valley’s oldest private startups.

Palantir had teased the market with plans to list shares for at least half a decade. Co-founded in 2004 by famed investor Peter Thiel, it sells software to aggregate big data for governments and corporations world-wide. The Palo Alto, Calif. company’s analytics were credited with helping the…

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