Stock-Based Awards (Tables)

6 Months Ended

Jun. 30, 2023

Share-Based Payment Arrangement [Abstract]

Summary of Restricted Stock Units

The following table summarizes activity for RSUs, PSUs and MSUs for the six months ended June 30, 2023 (in thousands):

	Number of Underlying Shares
	RSUs			MSUs			PSUs
Outstanding at December 31, 2022		1,310			110			74
Granted		396			126			—
Vested		(388	)		(58	)		(57	)
Forfeited		(21	)		—			(17	)
Outstanding at June 30, 2023		1,297			178			—

Summary of Stock-Based Compensation Expense

The following table presents the detail of stock-based compensation expense amounts included in our condensed consolidated statements of operations for the periods presented (in thousands):

	Three Months Ended June 30,				Six Months Ended June 30,
	2023		2022		2023		2022
Cost of revenue	$	472	$	299	$	889	$	898
Research and development expense		5,879		4,336		10,448		9,111
Sales and marketing expense		2,790		2,642		4,929		5,394
General and administrative expense		4,007		3,582		7,106		6,770
Total stock-based compensation expense	$	13,148	$	10,859	$	23,372	$	22,173