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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 | 6 Months Ended
--- | --- | ---
Jun. 30, 2022 | Jun. 30, 2021 | Jun. 30, 2022 | Jun. 30, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total share-based compensation expense | $ 14,180 | $ 11,249 | $ 27,041 | $ 19,733
Cost of Revenue |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total share-based compensation expense | 954 | 408 | 1,749 | 736
Research and Development |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total share-based compensation expense | 4,643 | 3,791 | 8,988 | 6,674
Sales and Marketing |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total share-based compensation expense | 3,584 | 3,302 | 6,813 | 5,797
General and Administrative |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total share-based compensation expense | $ 4,999 | $ 3,748 | $ 9,491 | $ 6,526

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