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Equity incentive Plans - Summary of Compensation Costs Related to Stock Options and RSUS Included on Statements of Operations (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Total share-based compensation expense | $ 43,251 | $ 24,761 | $ 13,124
Cost of Revenue |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Total share-based compensation expense | 2,100 | 817 | 555
Research and Development |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Total share-based compensation expense | 14,061 | 8,519 | 3,934
Sales and Marketing |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Total share-based compensation expense | 12,312 | 6,627 | 3,480
General and Administrative |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Total share-based compensation expense | $ 14,778 | $ 8,798 | $ 5,155

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