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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, 2022 | Sep. 30, 2021 | Sep. 30, 2022 | Sep. 30, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total share-based compensation expense | $ 14,142 | $ 11,643 | $ 41,183 | $ 31,376
Cost of Revenue |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total share-based compensation expense | 1,058 | 650 | 2,807 | 1,386
Research and Development |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total share-based compensation expense | 4,382 | 3,637 | 13,370 | 10,311
Sales and Marketing |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total share-based compensation expense | 3,357 | 3,369 | 10,170 | 9,166
General and Administrative |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |
Total share-based compensation expense | $ 5,345 | $ 3,987 | $ 14,836 | $ 10,513

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