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Selected Quarterly Financial Data (Unaudited) - Schedule of Quarterly Financial Information (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands | 3 Months Ended | 12 Months Ended
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Dec. 31, 2023 | Sep. 30, 2023 | Jun. 30, 2023 | Mar. 31, 2023 | Dec. 31, 2022 | Sep. 30, 2022 | Jun. 30, 2022 | Mar. 31, 2022 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Quarterly Financial Information Disclosure [Abstract] |  |  |  |  |  |  |  |  |  |  |
Revenue | $ 239,062 | $ 230,105 | $ 222,882 | $ 218,439 | $ 208,345 | $ 198,342 | $ 189,382 | $ 182,777 | $ 910,488 | $ 778,846 | $ 609,591
Cost of revenue | 112,493 | 111,080 | 104,361 | 104,756 | 96,294 | 94,111 | 88,229 | 88,867 | 432,690 | 367,501 | 271,099
Gross profit | 126,569 | 119,025 | 118,521 | 113,683 | 112,051 | 104,231 | 101,153 | 93,910 | 477,798 | 411,345 | 338,492
Operating expenses: |  |  |  |  |  |  |  |  |  |  |
Research and development | 38,873 | 40,391 | 39,210 | 38,108 | 36,865 | 34,113 | 34,992 | 35,824 | 156,582 | 141,794 | 106,897
Sales and marketing | 72,956 | 73,366 | 74,077 | 76,314 | 65,928 | 67,353 | 64,098 | 64,611 | 296,713 | 261,990 | 193,929
General and administrative | 33,338 | 31,006 | 30,477 | 28,258 | 22,509 | 24,496 | 23,824 | 24,314 | 123,079 | 95,143 | 93,916
Total operating expenses | 145,167 | 144,763 | 143,764 | 142,680 | 125,302 | 125,962 | 122,914 | 124,749 | 576,374 | 498,927 | 394,742
Loss from operations | (18,598) | (25,738) | (25,243) | (28,997) | (13,251) | (21,731) | (21,761) | (30,839) | (98,576) | (87,582) | (56,250)
Other income (expense), net: |  |  |  |  |  |  |  |  |  |  |
Interest expense | (1,963) | (1,972) | (1,866) | (1,845) | (1,887) | (1,879) | (1,857) | (1,870) | (7,646) | (7,493) | (8,027)
Interest income and other | 8,322 | 8,233 | 6,123 | 4,121 | 2,706 | 982 | 280 | 845 | 26,799 | 4,813 | (8)
Total other income (expense), net | 6,359 | 6,261 | 4,257 | 2,276 | 819 | (897) | (1,577) | (1,025) | 19,153 | (2,680) | (8,035)
Loss before income taxes | (12,239) | (19,477) | (20,986) | (26,721) | (12,432) | (22,628) | (23,338) | (31,864) | (79,423) | (90,262) | (64,285)
Provision for (benefit from) income taxes | 119 | 942 | 753 | 527 | 1,221 | 579 | 332 | 2,256 | 2,341 | 4,388 | (11,285)
Net loss | $ (12,358) | $ (20,419) | $ (21,739) | $ (27,248) | $ (13,653) | $ (23,207) | $ (23,670) | $ (34,120) | $ (81,764) | $ (94,650) | $ (53,000)
Net loss per share: |  |  |  |  |  |  |  |  |  |  |
Basic (in USD per share) | $ (0.17) | $ (0.28) | $ (0.30) | $ (0.38) | $ (0.19) | $ (0.33) | $ (0.34) | $ (0.49) | $ (1.13) | $ (1.35) | $ (0.79)
Diluted (in USD per share) | $ (0.17) | $ (0.28) | $ (0.30) | $ (0.38) | $ (0.19) | $ (0.33) | $ (0.34) | $ (0.49) | $ (1.13) | $ (1.35) | $ (0.79)
Shares used in computing net loss per share: |  |  |  |  |  |  |  |  |  |  |
Basic (in shares) | 72,926 | 72,356 | 71,627 | 71,259 | 70,704 | 70,232 | 69,748 | 68,974 | 72,048 | 69,920 | 67,512
Diluted (in shares) | 72,926 | 72,356 | 71,627 | 71,259 | 70,704 | 70,232 | 69,748 | 68,974 | 72,048 | 69,920 | 67,512

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