Stock-Based Compensation (Tables)

12 Months Ended

Dec. 31, 2023

Share-based Compensation Arrangement by Share-based Payment Award [Line Items]

Summary of stock option activity

	Outstanding Options
					Weighted-
			Weighted-		Average
	Shares		Average		Remaining	Aggregate
	Available for	Number of	Exercise		Contractual	Intrinsic
	Grant	Shares	Price		Life	Value
(in thousands, except for contractual life and exercise price)					(in years)
Balance at December 31, 2022	3,263	5,300	$	21.11	4.84	$	131,385
Additional shares authorized	3,500	—	$	—
Options granted	(499)	499	$	44.27
Options exercised	—	(298)	$	13.09
RSUs granted	(6,096)
RSUs forfeited/cancelled	934
Balance at December 31, 2023	1,102	5,501	$	23.65	4.36	$	231,133
Exercisable at December 31, 2023		4,509	$	13.97	3.49	$	221,758
Vested and expected to vest at December 31, 2023		5,435	$	23.12	4.31	$	230,521

Restricted stock units

		Weighted-
		Average
	Number of	Grant Date
	Shares	Fair Value
	(in thousands)
Balance at December 31, 2022	6,836	$	57.12
Granted	6,096	$	44.90
Vested	(2,750)	$	57.74
Cancelled/Forfeited	(934)	$	49.54
Balance at December 31, 2023	9,248	$	49.50

Summary of stock-based compensation expenses

	Year ended December 31,
	2023						2022						2021
	Employee		Non-Employee		Total		Employee		Non-Employee		Total		Employee		Non-Employee		Total
	(in thousands)
Cost of revenues	$	11,665	$	87	$	11,752	$	7,905	$	—	$	7,905	$	4,811	$	—	$	4,811
Research and development		63,445		2,881		66,326		44,655		1,890		46,545		24,507		1,361		25,868
Selling, general and administrative		112,236		1,494		113,730		97,379		555		97,934		84,368		172		84,540
Total	$	187,346	$	4,462	$	191,808	$	149,939	$	2,445	$	152,384	$	113,686	$	1,533	$	115,219

Schedule of assumptions used in valuation of fair value

	December 31,			December 31,			December 31,
	2023			2022			2021
Risk-free interest rate		—	%		—	%		0.80	%	—	1.52	%
Expected dividend yield		—	%		—	%					—	%
Expected volatility		—	%		—	%					60	%
Expected term (years)		—			—			7.25		—	10.00

Employee Stock Option [Member]

Share-based Compensation Arrangement by Share-based Payment Award [Line Items]

Schedule of assumptions used in valuation of fair value

	Year ended December 31,
	2023					2022					2021
Expected term (years)	5.20		—	6.11		5.12		—	10.00		5.11		—	10.00
Expected volatility	67.75	%	—	70.07	%	55.91	%	—	62.30	%	55.33	%	—	63.30	%
Expected dividend rate				—	%				—	%				—	%
Risk-free interest rate	3.41	%	—	4.80	%	1.62	%	—	4.16	%	0.81	%	—	1.67	%