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Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]  
Schedule of Summary of Stock Option Activity
The following table summarizes the activity for all stock options under all of the Company’s equity incentive plans for the years ended December 31, 2023 and 2022 (shares and aggregate intrinsic value in thousands):
Number of Options
Weighted
Average
Exercise Price
Weighted
Average
Remaining
Contractual Life
Aggregate
Intrinsic
Value
Outstanding at December 31, 20216,257 $13.60 6.19$140,326 
Granted
942 28.10 
Exercised
(1,401)8.04 
Canceled(581)28.17 
Outstanding at December 31, 20225,217 16.08 5.6858,784 
Granted
— — 
Exercised
(775)6.58 
Canceled(199)29.58 
Outstanding at December 31, 20234,243 $17.19 4.85$31,762 
Options vested and exercisable at December 31, 20233,596 $14.53 4.29$31,395 
Options vested and expected to vest at December 31, 20234,243 $17.19 4.85$31,762 
Schedule of Estimated Fair Value of Stock Options
The Company estimated the fair value of stock options with the following assumptions:
Year Ended December 31,
202320222021
Risk-free interest rate
N/A
1.60% - 3.80%
 0.90% - 1.30%
Volatility
N/A
65.60% - 69.40%
63.00% - 67.80%
Expected term (in years)
N/A
6.10
6.00 - 6.10
Expected dividend yield
N/A— %— %
Schedule of Activity for All RSUs
The following table summarizes the activity for all RSUs under all of the Company’s equity incentive plans for the years ended December 31, 2023 and 2022 (shares in thousands):
Shares
Weighted
Average Grant
Date Fair
Value
Unvested balance at December 31, 20214,485 $42.73 
Granted
4,500 27.66 
Issued
(2,968)40.31 
Canceled / forfeited(1,475)35.85 
Unvested balance at December 31, 20224,542 31.60 
Granted
7,782 19.04 
Issued
(2,835)27.11 
Canceled / forfeited(1,040)26.59 
Unvested balance at December 31, 20238,449 $22.16 
Schedule of Stock-Based Compensation Expense
The Company recognized stock-based compensation expense, including ESPP expenses, in the consolidated statements of operations as follows (in thousands): 
Year Ended December 31,
202320222021
Cost of customer agreements and incentives$8,772 $9,181 $11,469 
Cost of solar energy systems and product sales
5,267 9,274 5,775 
Sales and marketing
59,026 56,857 104,087 
Research and development
1,739 2,667 3,806 
General and administration
36,977 32,654 85,863 
Total
$111,781 $110,633 $211,000