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Stock-Based Compensation (Tables)
 9 Months Ended
Sep. 30, 2023
Share-Based Payment Arrangement [Abstract]  
Disclosure of Share-based Compensation Arrangements by Share-based Payment Award
RSU activity for the nine months ended September 30, 2023 was as follows:

SharesWeighted-average grant date fair value per share
Unvested balance as of December 31, 2022
3,716,061$6.60 
Granted
4,214,704$5.04 
Vested
(1,877,745)$6.23 
Forfeited
(239,510)$5.44 
Unvested balance as of September 30, 2023
5,813,510$5.64 
Summary of Stock Option Activity
The following table summarizes the Black-Scholes option pricing model weighted-average assumptions used in estimating the fair value of stock options granted to employees during the nine months ended September 30, 2022. No stock options were granted during the nine months ended September 30, 2023.
Nine Months Ended September 30, 2022
Expected term (in years)
6.0
Expected volatility
49.0 %
Risk-free interest rate
1.20 %
Expected dividend yield— %
A summary of equity award activity under the Company’s equity plans and related information is as follows (in thousands, except share, price and year data):
 Shares
available for
grant		Outstanding
stock
options		Weighted-
average
exercise
Price		Weighted-
average
remaining
contractual
life (years)		Aggregate
intrinsic
value
Balance as of December 31, 2022
1,836,566 12,371,281 $5.74 6.07$32,385 
Shares authorized9,102,074 
Options granted— — — 
Options exercised— (1,844,602)1.79 
Options canceled
428,189 (428,189)11.31 
RSU award activity(3,975,194)— 
Balance as of September 30, 2023
7,391,635 10,098,490 $6.22 5.74$18,855 
Vested and exercisable as of September 30, 2023
8,075,929 $4.89 5.27$17,967 
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions
Three Months Ended September 30,Nine months ended September 30,
2023202220232022
Expected term (in years)
N/A
0.5 - 2.0
0.5 - 2.0
0.5 - 2.0
Expected volatility
N/A
45% - 68%
45% - 68%
45% - 68%
Risk-free interest rate
N/A
0.10% - 2.60%
0.10% - 5.43%
0.10% - 2.60%
Expected dividend yield
N/A
— %— %— %
Share-based Payment Arrangement, Expensed and Capitalized, Amount
Stock-based compensation expense included in the condensed consolidated statements of operations was as follows (in thousands):
Three Months Ended September 30,
Nine Months Ended September 30,
2023202220232022
Cost of revenue
$653 $353 $1,456 $977 
Research and development
2,865 1,828 6,786 5,066 
Sales and marketing
2,747 1,539 6,616 3,906 
General and administrative
1,693 1,110 3,812 3,062 
Total stock-based compensation expense
$7,958 $4,830 $18,670 $13,011