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Equity Incentive Plans (Tables) | 12 Months Ended
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Dec. 31, 2024
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, 2024 were as follows:
|  | Shares Available for Grant |
Shares available for grant at December 31, 2023 |  |  | 15,299,763 |
2019 Equity Incentive Plan reserve increase effective January 1, 2024 |  |  | 7,254,113 |
Stock options and restricted stock units granted and the maximum market-based restricted stock units granted eligible to be earned |  |  | (8,841,392 | )
Stock options, restricted stock units and the maximum market-based restricted stock units forfeited or expired |  |  | 4,305,828 |
Shares available for grant at December 31, 2024 |  |  | 18,018,312 |
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, 2024 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, 2023 |  |  | 12,875,045 |  |  | $ | 15.90 |  |  |  |
Stock options granted |  |  | 1,008,364 |  |  |  | 3.99 |  |  |  |
Stock options forfeited |  |  | (718,920 | ) |  |  | 11.78 |  |  |  |
Stock options expired |  |  | (765,392 | ) |  |  | 18.61 |  |  |  |
Stock options exercised |  |  | (103,800 | ) |  |  | 2.32 |  |  |  |
Stock options outstanding at December 31, 2024 |  |  | 12,295,297 |  |  | $ | 15.11 |  |  | $ | 2,157 |
Stock options vested and exercisable at December 31, 2024 |  |  | 10,027,350 |  |  | $ | 16.30 |  |  | $ | 497 |
Summary of Restricted Stock Unit and Market-Based Restricted Stock Units Activity | Restricted stock unit activity under the 2019 Plan during the year ended December 31, 2024 was as follows:
|  | Restricted Stock Units Outstanding |  |  | Weighted-Average Grant Date Fair Value per Share |
Nonvested restricted stock units outstanding at December 31, 2023 |  |  | 9,669,460 |  |  | $ | 10.32 |
Restricted stock units granted |  |  | 5,619,008 |  |  |  | 4.03 |
Restricted stock units forfeited |  |  | (2,525,936 | ) |  |  | 7.91 |
Restricted stock units vested |  |  | (2,587,680 | ) |  |  | 11.28 |
Nonvested restricted stock units outstanding at December 31, 2024 |  |  | 10,174,852 |  |  | $ | 7.20 |
Market-based restricted stock unit activity under the 2019 Plan during the year ended December 31, 2024 was as follows:
|  | Maximum Market-Based Restricted Stock Units Outstanding |  |  | Weighted-Average Grant Date Fair Value per Share |
Nonvested maximum market-based restricted stock units outstanding at December 31, 2023 |  |  | 1,912,674 |  |  | $ | 15.13 |
Maximum market-based restricted stock units granted |  |  | 2,214,020 |  |  |  | 6.49 |
Maximum market-based restricted stock units forfeited |  |  | (295,580 | ) |  |  | 6.49 |
Nonvested maximum market-based restricted stock units outstanding at December 31, 2024 |  |  | 3,831,114 |  |  | $ | 10.80 |
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, 2024, 2023 and 2022 were estimated using the Black-Scholes option-pricing model with the following assumptions:
|  | Year Ended December 31, |
|  | 2024 |  |  | 2023 |  |  | 2022 |
Fair value of common stock |  | $3.99 |  |  | $8.46 |  |  | $7.30 - $14.95 |
Expected term (in years) |  | 5.27 - 6.08 |  |  | 5.27 - 6.08 |  |  | 5.27 - 6.08 |
Risk-free interest rate |  |  | 4.2 | % |  | 4.2% - 4.3% |  |  | 1.7% - 3.9% |
Expected volatility |  | 74.5% - 75.0% |  |  | 71.2% - 71.6% |  |  | 68.2% - 71.0% |
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, 2024, 2023 and 2022 are included on the consolidated statements of operations as follows (in thousands):
|  | Year Ended December 31, |
|  | 2024 |  |  | 2023 |  |  | 2022 |
Cost of revenue |  | $ | 3,632 |  |  | $ | 4,186 |  |  | $ | 3,910 |
Research and development |  |  | 17,081 |  |  |  | 20,465 |  |  |  | 17,689 |
Sales and marketing |  |  | 12,370 |  |  |  | 14,553 |  |  |  | 13,597 |
General and administrative |  |  | 20,527 |  |  |  | 23,704 |  |  |  | 20,281 |
Total share-based compensation expense |  | $ | 53,610 |  |  | $ | 62,908 |  |  | $ | 55,477 |
Schedule of Unrecognized Share-Based Compensation Expense and the Remaining Weighted-Average Recognition Period | As of December 31, 2024, 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 |  | $ | 12,943 |  |  |  | 1.51 |
Nonvested restricted stock units |  |  | 50,803 |  |  |  | 2.23 |
Nonvested market-based restricted stock units |  |  | 8,611 |  |  |  | 1.66 |

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