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Stock-based Compensation (Tables)
 9 Months Ended
Sep. 30, 2024
Share-Based Payment Arrangement [Abstract]  
Schedule of Stock Option Activity
Stock option activity for the nine months ended September 30, 2024 was as follows:
Number of
Shares
Underlying
Outstanding
Options		Weighted-
Average Exercise
Price		Weighted-
Average
Remaining
Contractual
Term (in years)		Aggregate
Intrinsic
Value
Outstanding—December 31, 20231,871,649 $7.36 6.72$6,191 
Options exercised(86,547)1.92 
Options cancelled(10,868)29.83 
Outstanding—September 30, 20241,774,234 $7.49 5.94$4,278 
Vested and expected to vest—September 30, 20241,774,234 $7.49 5.94$4,278 
Exercisable—September 30, 20241,742,513 $7.47 5.94$4,212 
Schedule of Stock Options Outstanding and Exercisable
The following table summarizes information about stock options outstanding and exercisable at September 30, 2024.
Options OutstandingOptions
Exercisable
Exercise
Price		Options
Outstanding		Weighted
Average
Remaining
Contractual
Life (Years)
$1.85 206,203 5.76206,203 
2.13 806,414 5.93790,562 
14.22 752,408 6.00736,732 
52.40 9,209 4.999,016 
1,774,234 1,742,513 
Schedule of Nonvested Restricted Stock Units Activity
A summary of RSU activity is as follows:
Number of
Shares		Weighted Average
Grant Date Fair
Value (per share)
Unvested—December 31, 20233,074,939 $13.19 
Granted2,511,582 9.80 
Canceled(227,430)14.44 
Vested(1,787,172)11.46 
Unvested—September 30, 20243,571,919 $11.59 
Schedule of Nonvested Restricted Stock Awards Activity
A summary of RSA activity is as follows:
Number of
Shares		Weighted Average
Grant Date Fair
Value (per share)
Unvested—December 31, 2023380,383 $15.30 
Granted533,601 7.94 
Canceled— — 
Vested(189,049)12.66 
Unvested—September 30, 2024724,935 $10.57 
Schedule of Stock-based Compensation
The Company recognized stock-based compensation expense for all share-based awards in the condensed consolidated statements of operations and comprehensive loss as follows (in thousands):
Three Months Ended September 30,Nine Months Ended September 30,
2024202320242023
Cost of revenue$1,345 $570 $3,468 $1,998 
Research and development5,241 4,056 14,079 19,765 
Sales and marketing1,308 1,345 4,200 7,726 
General and administrative3,625 2,401 9,871 17,129 
Total stock-based compensation$11,519 $8,372 $31,618 $46,618 
The following table summarizes stock-based compensation expense by award type (in thousands):
Three Months Ended September 30,Nine Months Ended September 30,
2024202320242023
RSUs$8,420 $5,437 $22,724 $35,224 
Stock Options1,405 1,713 4,447 5,725 
Employee stock purchase plan510 649 1,529 1,057 
RSAs1,184 573 2,918 4,612 
Total stock-based compensation$11,519 $8,372 $31,618 $46,618