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Stockholders' Equity (Deficit) and Equity Incentive Plans (Tables) | 12 Months Ended
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Dec. 31, 2022
Equity [Abstract] |
Schedule of Reserved Shares of Common Stock | The Company has reserved shares of its common stock as follows:
|  | As of December 31, 2022 |  |  | As of December 31, 2021 |
2014 Stock Option and Grant Plan and 2021 Incentive Award Plan: |  |  |  |  |  |
Equity plan stock options outstanding |  |  | 16,767,752 |  |  |  | 21,214,155 |
RSUs outstanding |  |  | 9,914,125 |  |  |  | 1,716,614 |
Shares available for future issuance |  |  | 16,774,634 |  |  |  | 19,005,008 |
2021 Employee Stock Purchase Plan: |  |  |  |  |  |
Shares available for future issuance |  |  | 3,411,791 |  |  |  | 2,663,371 |
Total reserved shares |  |  | 46,868,302 |  |  |  | 44,599,148 |
Summary of Stock Option Activity | Option activity under the Company's combined stock plans is set forth below:
|  |  |  |  |  |  |  | Weighted |  |  |  |
|  |  |  |  | Weighted |  |  | average |  |  | Aggregate |
|  | Outstanding |  |  | average |  |  | remaining |  |  | intrinsic |
|  | stock |  |  | exercise |  |  | contractual |  |  | value |
|  | options |  |  | price |  |  | life (years) |  |  | (in thousands) |
Balances as of December 31, 2021 |  |  | 21,214,155 |  |  | $ | 4.15 |  |  |  | 8.12 |  |  | $ | 1,035,039 |
Granted |  |  | 858,630 |  |  |  | 14.84 |  |  |  |  |  |  |
Exercised |  |  | (2,498,763 | ) |  |  | 2.77 |  |  |  |  |  |  |
Cancelled/forfeited |  |  | (2,806,270 | ) |  |  | 8.42 |  |  |  |  |  |  |
Balances as of December 31, 2022(1) |  |  | 16,767,752 |  |  | $ | 4.19 |  |  |  | 7.19 |  |  | $ | 132,298 |
Exercisable as of December 31, 2022(2) |  |  | 12,822,860 |  |  | $ | 3.29 |  |  |  | 6.89 |  |  | $ | 112,713 |
(1) As no forfeitures are estimated due to the Company's adoption of ASU No. 2016-09, all options are vested or expected to vest. As of December 31, 2022, no options were outstanding that were subject to a future performance condition (2) Exercisable shares include vested options as well as unvested shares that can be early exercised
Schedule of Assumptions and Data Inputs to Estimate Fair Value of Options | The following range of assumptions and data inputs were used i n the Black-Scholes option-pricing model to estimate the fair value of the options granted under the 2021 Plan:
|  | Year Ended December 31, 2022 |
Fair value of common stock |  | $14.62 - $15.63 |
Expected dividend yield |  |  | — |
Risk-free interest rate |  | 3.01% - 3.36% |
Expected volatility |  | 55.3% - 55.6% |
Expected term (years) |  | 6.0 - 6.3 |
Schedule of RSU Activity | RSU activity for the year ended December 31, 2022 was as follows:
|  | Restricted stock units |  |  | Weighted-average grant date fair value per share |
Balance as of December 31, 2021 |  |  | 1,716,614 |  |  | $ | 38.40 |
Granted |  |  | 10,664,063 |  |  |  | 17.60 |
Vested |  |  | (1,482,082 | ) |  |  | 23.71 |
Cancelled/forfeited |  |  | (984,470 | ) |  |  | 29.15 |
Balance as of December 31, 2022 |  |  | 9,914,125 |  |  | $ | 19.14 |
Schedule of Stock-based Compensation Expense | Stock-based compensation expense, net of actual forfeitures is reflected in the consolidated statement of operations and comprehensive loss (in thousands):
|  | Year Ended December 31, |
|  | 2022 |  |  | 2021 |  |  | 2020 |
Cost of revenue |  | $ | 6,468 |  |  | $ | 1,951 |  |  | $ | 590 |
Research and development |  |  | 27,855 |  |  |  | 13,613 |  |  |  | 5,582 |
Sales and marketing |  |  | 17,143 |  |  |  | 7,871 |  |  |  | 6,512 |
General and administrative |  |  | 15,757 |  |  |  | 10,959 |  |  |  | 3,869 |
Total stock-based compensation expense |  | $ | 67,223 |  |  | $ | 34,394 |  |  | $ | 16,553 |
Schedule of Fair Value of Shares To be Granted Under the ESPP | The following assumptions were used to calculate the fair value of shares to be granted under the ESPP during the period utilizing the Black-Scholes option-pricing model:
|  | Year Ended December 31, 2022 |
Fair value of common stock |  | $14.77 - $17.04 |
Expected dividend yield |  |  | — |
Risk-free interest rate |  | 1.54% - 4.63% |
Expected volatility |  | 60% |
Expected term (years) |  | 0.50 - 1.0 |

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