What is incumbent upon worshipers who bowed instead of prostrating after the Imam recited a verse of prostration in the prayer?

Congregants must follow the Imam in the prostration of recitation (Sajdat al-Tilawah). Whoever intentionally deviates from the Imam, their prayer is invalidated. However, for those who forgot or mistakenly thought the Imam would say "Allahu Akbar" for bowing (Ruku'), there is no blame on them, and they complete their prayer with the Imam. If the Imam prostrates for recitation and the congregant only realizes it after the Imam has raised his head, the congregant's prayer is not invalidated because they are excused, and they are not required to prostrate.