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Stock-based Compensation (Tables) | 9 Months Ended | 12 Months Ended
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Sep. 30, 2021 | Dec. 31, 2020
Share-based Payment Arrangement [Abstract] |  |
Summary of Stock-based Payment Arrangement Expenses | The Company recognized stock-based compensation expense for the periods indicated as follows (in thousands):
|  | Three Months Ended September 30, |  |  | Nine Months Ended September 30, |
|  | 2020 |  |  | 2021 |  |  | 2020 |  |  | 2021 |
Cost of revenue |  | $ | 126 |  |  | $ | 922 |  |  | $ | 204 |  |  | $ | 1,504 |
Sales and marketing |  |  | 1,571 |  |  |  | 4,774 |  |  |  | 2,812 |  |  |  | 8,814 |
Research and development |  |  | 6,823 |  |  |  | 20,110 |  |  |  | 10,692 |  |  |  | 40,148 |
General and administrative |  |  | 2,348 |  |  |  | 8,919 |  |  |  | 5,654 |  |  |  | 41,362 |
Total |  | $ | 10,868 |  |  | $ | 34,725 |  |  | $ | 19,362 |  |  | $ | 91,828 |
| The Company recognized stock-based compensation expense for the periods indicated as follows (in thousands):
|  | 2018 |  |  | 2019 |  |  | 2020 |
Cost of revenue |  | $ | 517 |  |  | $ | 124 |  |  | $ | 982 |
Sales and marketing |  |  | 2,582 |  |  |  | 1,922 |  |  |  | 10,668 |
Research and development |  |  | 1,009 |  |  |  | 5,009 |  |  |  | 36,852 |
General and administrative |  |  | 1,357 |  |  |  | 3,167 |  |  |  | 13,885 |
Total stock-based compensation expense |  | $ | 5,465 |  |  | $ | 10,222 |  |  | $ | 62,387 |
Summary Of Weighted Average Assumptions Used To Estimate The Fair Value Of Options Granted |  | The weighted-average assumptions used to estimate the fair va l ue of stock options granted are as follows:
|  | Year Ended December 31, |
|  | 2018 |  |  | 2019 |  |  | 2020 |
Weighted-average expected term |  |  | 6.00 |  |  |  | 6.05 |  |  |  | 5.94 |
Expected volatility |  |  | 62 | % |  |  | 43 | % |  |  | 39 | %
Risk-free interest rate |  |  | 2.58 | % |  |  | 1.91 | % |  |  | 0.56 | %
Dividend yield |  |  | 0 | % |  |  | 0 | % |  |  | 0 | %
Summary Of Stock Options Activity Under The Plan |  | The Company’s activity of the stock options under the Plan for the years ended December 31, 2019 and 2020 was as follows:
|  | Number of Options |  |  | Weighted Average Exercise Price Per Share |  |  | Weighted Average Remaining Contractual Term (Years) |
Balances at December 31, 2018 |  |  | 8,370,552 |  |  | $ | 2.66 |  |  |  | 9.2 |
Granted |  |  | 12,199,200 |  |  |  | 4.36 |  |  |  |  |
Exercised |  |  | (1,011,873 | ) |  |  | 2.61 |  |  |  |  |
Forfeited |  |  | (1,158,528 | ) |  |  | 2.82 |  |  |  |  |
Expired |  |  | (4,221 | ) |  |  | 2.81 |  |  |  |  |
Balances at December 31, 2019 |  |  | 18,395,130 |  |  | $ | 3.78 |  |  |  | 9.2 |
Granted |  |  | 13,158,430 |  |  |  | 8.41 |  |  |  |  |
Exercised |  |  | (871,668 | ) |  |  | 2.65 |  |  |  |  |
Forfeited |  |  | (425,001 | ) |  |  | 1.68 |  |  |  |  |
Expired |  |  | (1,367,367 | ) |  |  | 4.64 |  |  |  |  |
Balances at December 31, 2020 |  |  | 28,889,524 |  |  | $ | 5.92 |  |  |  | 8.8 |
Vested and exercisable at December 31, 2020 |  |  | 17,099,956 |  |  | $ | 5.26 |  |  |  | 8.6 |
Vested and expected to vest at December 31, 2020 |  |  | 25,023,502 |  |  | $ | 6.22 |  |  |  | 8.9 |
Summary Of Oustanding Restricted Stock Awards Activity |  | The Company’s activity of the outstanding restricted stock awards for Cla s s A common stock for the years ended December 31, 2019 and 2020 , was as follows:
|  | Number of Restricted Stock Awards |  |  | Weighted Average Grant Date Fair Value per Share |
Balances at December 31, 2018 |  |  | 3,664,653 |  |  | $ | 1.68 |
Granted |  |  | 3,267,792 |  |  |  | 1.97 |
Repurchased |  |  | (59,637 | ) |  |  | 1.68 |
Vested |  |  | (2,948,394 | ) |  |  | 1.83 |
Balances at December 31, 2019 |  |  | 3,924,414 |  |  | $ | 1.81 |
Granted |  |  | — |  |  |  | — |
Repurchased |  |  | — |  |  |  | — |
Vested |  |  | (2,687,643 | ) |  |  | 1.85 |
Balances at December 31, 2020 |  |  | 1,236,771 |  |  | $ | 1.71 |

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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Disclosure of the number and weighted-average grant date fair value for restricted stock and restricted stock units that were outstanding at the beginning and end of the year, and the number of restricted stock and restricted stock units that were granted, vested, or forfeited during the year. + References No definition available. + Details
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