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Equity Incentive Plans (Tables) | 12 Months Ended
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Dec. 31, 2022
Share-Based Payment Arrangement [Abstract] |
Summary of Changes in Shares Available for Grant | Changes in shares available for grant during the year ended December 31, 2022 were as follows:
|  | Shares Available for Grant |
Shares available for grant at December 31, 2021 |  |  | 22,299,923 |
Stock options and restricted stock units granted and the maximum market-based restricted stock units granted eligible to be earned |  |  | (11,556,509 | )
Stock options and restricted stock units forfeited or expired |  |  | 3,838,561 |
Shares available for grant at December 31, 2022 |  |  | 14,581,975 |
Summary of Stock Option Activity Under 2009 Plan and 2019 Plan | Stock option activity under the 2009 Plan and 2019 Plan during the year ended December 31, 2022 was as follows:
|  | Shares Subject to Outstanding Stock Options |  |  | Weighted-Average Exercise Price per Share |  |  | Aggregate Intrinsic Value (in thousands) |
Stock options outstanding at December 31, 2021 |  |  | 12,778,984 |  |  | $ | 19.72 |  |  |  |
Stock options granted |  | 4,425,336 |  |  |  | 11.67 |  |  |  |
Stock options forfeited |  |  | (1,655,959 | ) |  |  | 28.54 |  |  |  |
Stock options expired |  |  | (620,864 | ) |  |  | 32.60 |  |  |  |
Stock options exercised |  |  | (1,406,500 | ) |  |  | 5.59 |  |  |  |
Stock options outstanding at December 31, 2022 |  |  | 13,520,997 |  |  | $ | 16.88 |  |  | $ | 6,651 |
Stock options vested and exercisable at December 31, 2022 |  | 7,568,858 |  |  | $ | 15.01 |  |  | $ | 6,438 |
Summary of Restricted Stock Unit Activity | Restricted stock unit activity under the 2019 Plan during the year ended December 31, 2022 was as follows:
|  | Restricted Stock Units Outstanding |  |  | Weighted-Average Grant Date Fair Value per Share |
Nonvested restricted stock units outstanding at December 31, 2021 |  |  | 1,211,191 |  |  | $ | 37.41 |
Restricted stock units granted |  | 6,636,939 |  |  |  | 11.43 |
Restricted stock units forfeited |  |  | (1,561,738 | ) |  |  | 16.20 |
Restricted stock units vested |  |  | (304,637 | ) |  |  | 37.71 |
Nonvested restricted stock units outstanding at December 31, 2022 |  |  | 5,981,755 |  |  | $ | 14.11 |
Summary of Estimated Grant Date Fair Values of Options Granted | The estimated grant date fair values of stock options granted during the years ended December 31, 2022, 2021 and 2020 were estimated using the Black-Scholes option-pricing model with the following assumptions:
|  | Year Ended December 31, |
|  | 2022 |  |  | 2021 |  |  | 2020 |
Fair value of common stock |  | $7.30 - $14.95 |  |  | $30.86 - $66.50 |  |  | $17.68 - $55.23 |
Expected term (in years) |  | 5.27 - 6.08 |  |  | 5.27 - 6.08 |  |  | 5.27 - 6.08 |
Risk-free interest rate |  | 1.7% - 3.9% |  |  | 0.5% - 1.4% |  |  | 0.4% - 1.7% |
Expected volatility |  | 68.2% - 71.0% |  |  | 67.1% - 70.0% |  |  | 70.5% - 73.3% |
Expected dividend yield |  |  | — |  |  |  | — |  |  |  | — |
Summary of Compensation Costs Related to Stock Options and RSUs Included on Statements of Operations | The compensation cost related to stock options, restricted stock units and market-based restricted stock units for the years ended December 31, 2022, 2021 and 2020 are included on our consolidated statements of operations as follows (in thousands):
|  | Year Ended December 31, |
|  | 2022 |  |  | 2021 |  |  | 2020 |
Cost of revenue |  | $ | 3,910 |  |  | $ | 2,100 |  |  | $ | 817 |
Research and development |  |  | 17,689 |  |  |  | 14,061 |  |  |  | 8,519 |
Sales and marketing |  |  | 13,597 |  |  |  | 12,312 |  |  |  | 6,627 |
General and administrative |  |  | 20,281 |  |  |  | 14,778 |  |  |  | 8,798 |
Total share-based compensation expense |  | $ | 55,477 |  |  | $ | 43,251 |  |  | $ | 24,761 |
Schedule of Unrecognized Share-Based Compensation Expense and the Remaining Weighted-Average Recognition Period | As of December 31, 2022, unrecognized share-based compensation expense and the remaining weighted-average recognition period were as follows:
|  | Unrecognized Share-Based Compensation Expense (in thousands) |  |  | Remaining Weighted-Average Recognition Period (in years) |
Nonvested stock options |  | $ | 64,881 |  |  |  | 2.47 |
Nonvested restricted stock units |  |  | 68,784 |  |  |  | 3.07 |
Nonvested market-based restricted stock units |  |  | 3,382 |  |  |  | 2.18 |

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