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Equity Incentive Plans (Tables) | 3 Months Ended
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Mar. 31, 2023
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract] |
Summary of Changes in Shares Available for Grant | Changes in shares available for grant during the three months ended March 31, 2023 were as follows:
|  | Shares Available for Grant |
Shares available for grant at December 31, 2022 |  |  | 14,581,975 |
2019 Equity Incentive Plan reserve increase effective January 1, 2023 |  |  | 7,155,250 |
Stock options and restricted stock units granted and the maximum market-based restricted stock units granted eligible to be earned |  |  | (9,516,635 | )
Stock options and restricted stock units forfeited or expired |  |  | 484,498 |
Shares available for grant at March 31, 2023 |  |  | 12,705,088 |
Summary of Stock Option Activity Under 2009 Plan and 2019 Plan | Stock option activity under the 2009 Plan and 2019 Plan during the three months ended March 31, 2023 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, 2022 |  |  | 13,520,997 |  |  | $ | 16.88 |  |  |  |
Stock options granted |  |  | 1,612,032 |  |  |  | 8.46 |  |  |  |
Stock options forfeited |  |  | (123,317 | ) |  |  | 24.03 |  |  |  |
Stock options expired |  |  | (80,622 | ) |  |  | 27.61 |  |  |  |
Stock options exercised |  |  | (145,758 | ) |  |  | 4.61 |  |  |  |
Stock options outstanding at March 31, 2023 |  |  | 14,783,332 |  |  | $ | 15.97 |  |  | $ | 13,654 |
Stock options vested and exercisable at March 31, 2023 |  |  | 8,486,735 |  |  | $ | 15.35 |  |  | $ | 12,075 |
Summary of Restricted Stock Unit Activity | Restricted stock unit activity under the 2019 Plan during the three months ended March 31, 2023 was as follows:
|  | Restricted Stock Units Outstanding |  |  | Weighted-Average Grant Date Fair Value per Share |
Nonvested restricted stock units outstanding at December 31, 2022 |  |  | 5,981,755 |  |  | $ | 14.11 |
Restricted stock units granted |  |  | 6,486,163 |  |  |  | 8.46 |
Restricted stock units forfeited |  |  | (280,559 | ) |  |  | 12.54 |
Restricted stock units vested |  |  | (1,029,209 | ) |  |  | 15.37 |
Nonvested restricted stock units outstanding at March 31, 2023 |  |  | 11,158,150 |  |  | $ | 10.75 |
Summary of Estimated Grant Date Fair Value of Stock Options Granted | The estimated grant date fair values of stock options granted during the three months ended March 31, 2023 and 2022 were estimated using the Black-Scholes option-pricing model with the following assumptions:
|  | Three Months Ended March 31, |
|  | 2023 |  |  | 2022 |
Fair value of common stock |  | $8.46 |  |  | $12.14 - $14.95 |
Expected term (in years) |  | 5.27 - 6.08 |  |  | 5.27 - 6.08 |
Risk-free interest rate |  | 4.2% - 4.3% |  |  | 1.7% - 2.5% |
Expected volatility |  | 71.2% - 71.6% |  |  | 68.2% - 69.8% |
Expected dividend yield |  |  | — |  |  |  | — |
Summary of Compensation Costs Related to Stock Options and RSUs Included on Unaudited Condensed Consolidated Statements of Operations | The compensation cost related to stock options, restricted stock units and market-based restricted stock units for the three months ended March 31, 2023 and 2022 are included on the unaudited condensed consolidated statements of operations as follows (in thousands):
|  | Three Months Ended March 31, |
|  | 2023 |  |  | 2022 |
Cost of revenue |  | $ | 1,294 |  |  | $ | 795 |
Research and development |  |  | 4,549 |  |  |  | 4,345 |
Sales and marketing |  |  | 3,431 |  |  |  | 3,229 |
General and administrative |  |  | 5,397 |  |  |  | 4,492 |
Total share-based compensation expense |  | $ | 14,671 |  |  | $ | 12,861 |
Schedule of Unrecognized Share-Based Compensation Expense and the Remaining Weighted-Average Recognition Period | As of March 31, 2023, 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 |  | $ | 64,315 |  |  |  | 2.47 |
Nonvested restricted stock units |  |  | 113,829 |  |  |  | 3.32 |
Nonvested market-based restricted stock units |  |  | 12,576 |  |  |  | 2.69 |

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