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Stockholders' Equity and Stock-based Compensation Expense (Tables)
 6 Months Ended
Jun. 30, 2022
Share-based Payment Arrangement [Abstract]  
Summary of Activity under the 2019 Plan
Activity under the Company's equity incentive plans is summarized as follows:
Shares
Available
for Grant
Balance, December 31, 2021947,347 
Additional shares reserved600,000 
RSUs granted(159,131)
PSUs granted(164,818)
Options granted(278,903)
Stock awards canceled / forfeited / expired65,785 
Options canceled / forfeited / expired9,704 
Balance, June 30, 20221,019,984 

Options Outstanding
Number of
Stock Options
Outstanding		Weighted-
Average
Exercise
Price		Weighted Average Remaining Term
 (in Years)
Balance, December 31, 2021287,175 $25.89 4.92
Options granted278,903 $40.87 
Options exercised(14,844)$25.30 
Options canceled / forfeited / expired(9,704)$34.80 
Balance, June 30, 2022541,530 $33.46 6.97

Stock Awards Outstanding
Number of Awards OutstandingWeighted Average Grant Date Fair Value per Share
Balance, December 31, 20211,032,904 $35.00 
RSUs granted159,131 $46.02 
PSUs granted164,818 $45.97 
Awards released(259,548)$27.1 
Stock awards canceled / forfeited / expired(62,884)$40.20 
Balance, June 30, 20221,034,421 $39.76 
Summary of Stock-based Compensation Expense Stock-based compensation expense by department recognized during the three and six months ended June 30, 2022 and 2021 was as follows (in thousands):
Three Months Ended
June 30,		Six Months Ended
June 30,
2022202120222021
Cost of revenue$500 $434 $959 $578 
Sales and marketing1,638 522 2,214 1,243 
Research and development1,067 307 2,047 608 
General and administrative1,528 1,656 3,556 2,336 
Total stock-based compensation expense$4,733 $2,919 $8,776 $4,765