What Are the Trade-Offs between the Size of a ZKP and the Verification Time?

Generally, there is a trade-off where smaller proof sizes lead to faster on-chain verification times, which is highly desirable for reducing gas costs. zk-SNARKs produce very small, constant-size proofs, leading to fast verification. zk-STARKs produce larger proofs but offer faster proving time and are quantum-resistant, representing a different balance between size, speed, and security.