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Equity Incentive Plans - Schedule of Recorded Stock-Based Compensation Expense in the Condensed Consolidated Statement of Operations (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Share-based Payment Arrangement, Expensed [Line Items] |  |  |  |
Stock-based compensation expense | $ 45,696 | $ 36,313 | $ 87,797 | $ 62,360
Cost of revenue |  |  |  |
Share-based Payment Arrangement, Expensed [Line Items] |  |  |  |
Stock-based compensation expense | 1,835 | 1,453 | 3,296 | 2,467
Research and development |  |  |  |
Share-based Payment Arrangement, Expensed [Line Items] |  |  |  |
Stock-based compensation expense | 19,560 | 15,579 | 37,340 | 26,870
Selling, general and administrative |  |  |  |
Share-based Payment Arrangement, Expensed [Line Items] |  |  |  |
Stock-based compensation expense | $ 24,301 | $ 19,281 | $ 47,161 | $ 33,023

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