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Stockholders' Equity (Deficit) and Equity Incentive Plans - Schedule of Stock Based Compensation Expenses (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Class Of Stock [Line Items] |  |  |
Total stock-based compensation expense | $ 67,223 | $ 34,394 | $ 16,553
Cost of Revenue |  |  |
Class Of Stock [Line Items] |  |  |
Total stock-based compensation expense | 6,468 | 1,951 | 590
Research and Development |  |  |
Class Of Stock [Line Items] |  |  |
Total stock-based compensation expense | 27,855 | 13,613 | 5,582
Sales and Marketing |  |  |
Class Of Stock [Line Items] |  |  |
Total stock-based compensation expense | 17,143 | 7,871 | 6,512
General and Administrative |  |  |
Class Of Stock [Line Items] |  |  |
Total stock-based compensation expense | $ 15,757 | $ 10,959 | $ 3,869

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