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Equity incentive Plans - Summary of Compensation Costs Related to Stock Options and RSUs Included on Unaudited Condensed Consolidated Statements of Operations (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total share-based compensation expense | $ 11,643 | $ 6,470 | $ 31,376 | $ 17,518
Cost of Revenue |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total share-based compensation expense | 650 | 206 | 1,386 | 587
Research and Development |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total share-based compensation expense | 3,637 | 2,216 | 10,311 | 5,912
Sales and Marketing |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total share-based compensation expense | 3,369 | 1,759 | 9,166 | 4,583
General and Administrative |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total share-based compensation expense | $ 3,987 | $ 2,289 | $ 10,513 | $ 6,436

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