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Stockholders' Equity and Stock-Based Compensation (Tables) | 3 Months Ended
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Mar. 31, 2021
Equity [Abstract] |
Schedule of Restricted Stock Awards and Units | Restricted stock award (RSA) and restricted stock unit (RSU) activity under our equity incentive plan was as follows (in thousands, except weighted-average grant date fair values):
|  |  | Number of Restricted Stock Awards |  | Weighted-Average Grant Date Fair Value
RSAs at December 31, 2020 |  | 653 |  |  | $ | 21.30 |
| Awards granted |  | — |  |  | — |
| Awards vested |  | — |  |  | — |
RSAs at March 31, 2021 |  | 653 |  |  | $ | 21.30 |
|  |  | Number of Restricted Stock Units |  | Weighted-Average Grant Date Fair Value
RSUs at December 31, 2020 |  | 2,800 |  |  | $ | 20.54 |
| Awards granted |  | 76 |  |  | 38.76 |
| Awards vested |  | (3) |  |  | 18.63 |
| Awards forfeited |  | (7) |  |  | 24.88 |
RSUs at March 31, 2021 |  | 2,866 |  |  | $ | 21.01 |
Schedule of Stock Option Activity | The following table summarizes the Company’s stock option activity during the three months ended March 31, 2021 (in thousands, except weighted-average exercise prices):
| Number of Options |  | Weighted-Average Exercise Price |  | Weighted-Average Remaining Contractual Term (Years) |  | Aggregate Intrinsic Value
Outstanding, December 31, 2020 | 3,358 |  |  | $1.53 |  | 5.3 |  | $104,510
Options exercised | (452) |  |  | $1.27 |  |  |  |
Options canceled | (2) |  |  | $4.79 |  |  |  |
Outstanding, March 31, 2021 | 2,904 |  |  | $1.56 |  | 5.1 |  | $89,554
Options exercisable at March 31, 2021 | 2,408 |  |  | $1.15 |  | 4.8 |  | $75,265
Options vested as of March 31, 2021 and expected to vest after March 31, 2021 | 2,904 |  |  | $1.56 |  | 5.1 |  | $89,554
Schedule of Stock-based Compensation Expense | Total stock-based compensation expense was included in our consolidated statements of operations as follows (in thousands):
|  |  | Three Months Ended March 31,
|  |  |  |  | 2021 |  | 2020 |  |
Cost of revenues |  |  |  |  | $ | 491 |  |  | $ | 345 |  |  |
Research and development |  |  |  |  | 2,918 |  |  | 1,782 |  |  |
Sales, general and administrative |  |  |  |  | 4,645 |  |  | 1,636 |  |  |
|  |  |  |  | $ | 8,054 |  |  | $ | 3,763 |  |  |
Schedule of Share-Based Payment Arrangement, Nonvested Award, Cost | As of March 31, 2021, total unrecognized stock-based compensation related to unvested stock awards was $58.3 million, which will be recognized over the next five years as follows (in thousands):
Remainder of 2021 | $ | 20,570 |
2022 | 21,754 |
2023 | 12,899 |
2024 | 3,027 |
2025 | 35 |
| $ | 58,285 |

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- Definition Tabular disclosure of allocation of amount expensed and capitalized for award under share-based payment arrangement to statement of income or comprehensive income and statement of financial position. Includes, but is not limited to, corresponding line item in financial statement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -URI http://asc.fasb.org/extlink&oid=115993241&loc=d3e301413-122809 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 1 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5047-113901 + Details
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