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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, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Total share-based compensation expense | $ 55,477 | $ 43,251 | $ 24,761
Cost of Revenue |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Total share-based compensation expense | 3,910 | 2,100 | 817
Research and Development |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Total share-based compensation expense | 17,689 | 14,061 | 8,519
Sales and Marketing |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Total share-based compensation expense | 13,597 | 12,312 | 6,627
General and Administrative |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Total share-based compensation expense | $ 20,281 | $ 14,778 | $ 8,798

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