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Equity Incentive Plans (Tables) | 12 Months Ended
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Dec. 31, 2023
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, 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 |  |  | (9,980,059 | )
Stock options and restricted stock units forfeited or expired |  |  | 3,542,597 |
Shares available for grant at December 31, 2023 |  |  | 15,299,763 |
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, 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 |  |  | (1,030,388 | ) |  |  | 17.07 |  |  |  |
Stock options expired |  |  | (757,191 | ) |  |  | 22.92 |  |  |  |
Stock options exercised |  |  | (470,405 | ) |  |  | 4.77 |  |  |  |
Stock options outstanding at December 31, 2023 |  |  | 12,875,045 |  |  | $ | 15.90 |  |  | $ | 506 |
Stock options vested and exercisable at December 31, 2023 |  | 9,071,627 |  |  | $ | 16.20 |  |  | $ | 506 |
Summary of Restricted Stock Unit Activity | Restricted stock unit activity under the 2019 Plan during the year ended December 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 |  | 6,949,587 |  |  |  | 8.29 |
Restricted stock units forfeited |  |  | (1,755,018 | ) |  |  | 11.24 |
Restricted stock units vested |  |  | (1,506,864 | ) |  |  | 14.95 |
Nonvested restricted stock units outstanding at December 31, 2023 |  |  | 9,669,460 |  |  | $ | 10.32 |
Summary of Estimated Grant Date Fair Values of Stock Options Granted | The estimated grant date fair values of stock options granted during the years ended December 31, 2023, 2022 and 2021 were estimated using the Black-Scholes option-pricing model with the following assumptions:
|  | Year Ended December 31, |
|  | 2023 |  |  | 2022 |  |  | 2021 |
Fair value of common stock |  | $8.46 |  |  | $7.30 - $14.95 |  |  | $30.86 - $66.50 |
Expected term (in years) |  | 5.27 - 6.08 |  |  | 5.27 - 6.08 |  |  | 5.27 - 6.08 |
Risk-free interest rate |  | 4.2% - 4.3% |  |  | 1.7% - 3.9% |  |  | 0.5% - 1.4% |
Expected volatility |  | 71.2% - 71.6% |  |  | 68.2% - 71.0% |  |  | 67.1% - 70.0% |
Expected dividend yield |  |  | — |  |  |  | — |  |  |  | — |
Summary of Compensation Costs Related to Stock Options and RSUs Included on Consolidated 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, 2023, 2022 and 2021 are included on the consolidated statements of operations as follows (in thousands):
|  | Year Ended December 31, |
|  | 2023 |  |  | 2022 |  |  | 2021 |
Cost of revenue |  | $ | 4,186 |  |  | $ | 3,910 |  |  | $ | 2,100 |
Research and development |  |  | 20,465 |  |  |  | 17,689 |  |  |  | 14,061 |
Sales and marketing |  |  | 14,553 |  |  |  | 13,597 |  |  |  | 12,312 |
General and administrative |  |  | 23,704 |  |  |  | 20,281 |  |  |  | 14,778 |
Total share-based compensation expense |  | $ | 62,908 |  |  | $ | 55,477 |  |  | $ | 43,251 |
Schedule of Unrecognized Share-Based Compensation Expense and the Remaining Weighted-Average Recognition Period | As of December 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 |  | $ | 33,892 |  |  |  | 1.94 |
Nonvested restricted stock units |  |  | 76,944 |  |  |  | 2.67 |
Nonvested market-based restricted stock units |  |  | 8,941 |  |  |  | 1.97 |

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