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Condensed Consolidated Statements of Operations - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Income Statement [Abstract]        
Revenue $ 146,819 $ 114,609 $ 281,104 $ 229,105
Cost of revenue 47,207 27,704 83,102 53,182
Gross profit 99,612 86,905 198,002 175,923
Operating expenses:        
Research and development 71,460 70,685 138,558 134,763
Selling, general and administrative 91,510 79,337 174,790 146,012
Total operating expenses 162,970 150,022 313,348 280,775
Loss from operations (63,358) (63,117) (115,346) (104,852)
Other income (expense):        
Interest income 4,100 1,238 7,969 1,807
Interest expense (5) (109) (24) (237)
Other expense, net (1,504) (1,843) (3,020) (2,243)
Total other income (expense) 2,591 (714) 4,925 (673)
Loss before provision for income taxes (60,767) (63,831) (110,421) (105,525)
Provision for income taxes 1,647 627 2,740 1,346
Net loss $ (62,414) $ (64,458) $ (113,161) $ (106,871)
Net loss per share, basic (in dollars per share) $ (0.53) $ (0.57) $ (0.97) $ (0.94)
Net loss per share, diluted (in dollars per share) $ (0.53) $ (0.57) $ (0.97) $ (0.94)
Weighted-average shares of common stock used in computing net loss per share, basic (in shares) 116,707,672 113,574,757 116,166,776 113,272,158
Weighted-average shares of common stock used in computing net loss per share, diluted (in shares) 116,707,672 113,574,757 116,166,776 113,272,158