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Stockholders’ Equity (Tables)
 6 Months Ended
Jun. 30, 2024
Equity [Abstract]  
Schedule of Equity Based Compensation Expense
Stock-based compensation expense, consisting of service-based expense related to the equity incentive plan, including expense from stock options and restricted stock units, and the employee stock purchase plan, was classified as follows in the accompanying condensed consolidated statements of operations for each of the periods presented (in thousands):
Three Months Ended June 30,Six Months Ended June 30,
2024202320242023
Cost of revenue$244 $251 $483 $464 
Sales and marketing1,696 1,219 2,847 2,183 
Research and development2,178 1,323 4,076 2,253 
General and administrative4,173 3,083 7,657 5,489 
Total$8,291 $5,876 $15,063 $10,389 
Schedule of Stock Option Activity
Stock option activity was as follows:
Number of OptionsWeighted Average Exercise PriceWeighted Average Remaining Contractual Life (years)Aggregate Intrinsic Value
(in thousands)
Outstanding as of December 31, 20231,840,735 $4.32 5.96$13,165 
Exercisable as of December 31, 20231,480,536 $3.82 5.62$11,320 
Granted— $— 
Exercised(60,548)$4.80 
Forfeited and expired(2,075)$5.81 
Outstanding as of March 31, 20241,778,112 $4.30 5.71$12,768 
Exercisable as of March 31, 20241,495,817 $3.89 5.44$11,348 
Granted— $— 
Exercised(32,345)$2.05 
Forfeited and expired(1,472)$5.01 
Outstanding as of June 30, 20241,744,295 $4.34 5.48$8,162 
Exercisable as of June 30, 20241,537,446 $4.04 5.28$7,664 
Schedule of Restricted Stock Unit Activity
RSU activity was as follows:
Number of SharesWeighted Average Grant Date Fair Value
Outstanding as of December 31, 20237,504,848 $5.98 
Granted2,068,200 $11.64 
Vested(1,205,838)$5.28 
Canceled(81,064)$6.78 
Outstanding as of March 31, 20248,286,146 $7.48 
Granted247,798 $8.84 
Vested(1,014,237)$5.82 
Canceled(51,041)$6.95 
Outstanding as of June 30, 20247,468,666 $7.76