Stock-Based Compensation (Tables)

12 Months Ended

Dec. 31, 2023

Subsidiary, Sale of Stock [Line Items]

Summary of Stock Option Activity

A summary of the Company’s stock option activity under the Plans is set forth below (in thousands, except exercise price and remaining contractual life data):

	Outstanding Options			Weighted- Average Exercise Price		Weighted- Average Remaining Terms (Years)		Aggregate Intrinsic Value
Outstanding as of December 31, 2022		2,602		$	13.97
Granted		—			—
Exercised		(585	)	$	4.99
Forfeited and expired		(82	)	$	40.10
Outstanding as of December 31, 2023		1,935		$	15.58		5.27	$	1,406
Exercisable as of December 31, 2023		1,777		$	13.22		5.10	$	1,406

Summary of Estimated Fair Value of Stock Option Grants

The fair value of each stock option grant is estimated on the date of grant using the following assumptions for the periods indicated:

	Years Ended December 31,
	2022	2021
Expected term (in years)	6.08	5.95 – 6.08
Expected volatility	55.0%	53.9% – 55.3%
Risk-free interest rate	1.74%	0.66% – 1.36%
Dividend yield	0%	0%

Summary of Restricted Stock Activity

Restricted stock activity was as follows (in thousands, except per share amounts):

	Restricted Stock Units			Performance Stock Units			Weighted-Average Grant Date Fair Value Per Share
	(RSU)			(PSU)			RSU		PSU
Outstanding as of December 31, 2022		1,593			239		$	34.75	$	26.50
Granted		2,321			266		$	18.09	$	11.06
Vested		(708	)		—		$	35.22		—
Forfeited		(612	)		(73	)	$	27.02	$	32.31
Outstanding as of December 31, 2023		2,594			432		$	21.54	$	22.50

Summary of Stock-based Compensation Expense

The following table sets forth stock-based compensation expense included in the statements of operations (in thousands):

	Years Ended December 31,
	2023		2022		2021
Cost of revenue	$	1,805	$	701	$	269
Research and development		10,538		6,845		3,809
Sales and marketing		12,419		10,269		5,897
General and administrative		13,872		9,388		7,470
Total stock-based compensation expense	$	38,634	$	27,203	$	17,445

Employee Stock Purchase Plan (ESPP)

Subsidiary, Sale of Stock [Line Items]

Summary of Estimated Fair Value of Stock Option Grants

The grant date fair value and assumptions used in estimating the fair value of the stock purchase rights under the ESPP were as follows:

	Years Ended December 31,
	2023	2022	2021
Expected term (in years)	0.49 – 2.00	0.49 – 2.00	0.50
Expected volatility	53.3% – 61.6%	41.1% – 58.0%	41.0% – 43.8%
Risk-free interest rate	4.81% – 5.4%	0.6% – 3.48%	0.06% – 0.07%
Dividend yield	0%	0%	0%
Grant Date Fair Value	$3.25–$8.27	$4.89 – $16.23	$13.25–$13.95