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Stock-Based Compensation (Tables)
12 Months Ended
Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]  
Disclosure of Share-Based Compensation Arrangements by Share-Based Payment Award
RSU activity for the year ended December 31, 2023 was as follows:

SharesWeighted-average grant date fair value per share
Unvested balance as of December 31, 2022
3,716,061$6.60 
Granted4,576,424$5.06 
Vested(2,614,981)$6.06 
Forfeited(420,671)$5.38 
Unvested balance as of December 31, 2023
5,256,833$5.63 
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions
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 year ended December 31, 2022. No stock options were granted during the year ended December 31, 2023.

For the Year Ended December 31,
2022
Expected term (in years)6
Expected volatility49.0 %
Risk-free interest rate1.20 %
Expected dividend yield— %
The following table summarizes the Black-Scholes option pricing model weighted-average assumptions used in estimating the fair value of the stock purchase rights granted to employees under the ESPP for the years ended December 31, 2023 and 2022:
For the Years Ended December 31,
20232022
Expected term (in years)
0.5 - 2.0
0.5 - 2.0
Expected volatility
46% - 64%
45% - 68%
Risk-free interest rate
4.29% - 5.43%
0.10% - 4.75%
Expected dividend yield— %— %
Share-based Payment Arrangement, Option, Activity
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
Equity Awards
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— (2,446,846)1.89 
Options cancelled617,293 (617,293)10.87 
RSU award activity(4,155,753)— 
Balance as of December 31, 2023
7,400,180 9,307,142 $6.41 5.57$31,250 
Vested and exercisable as of December 31, 2023
7,747,252 $5.24 5.17$29,480 
Stock-based Compensation Expense
Stock-based compensation expense included in the consolidated statements of operations was as follows (in thousands):
For the Years Ended December 31,
20232022
Cost of revenue
$1,986 $1,267 
Research and development
9,218 6,698 
Sales and marketing
8,801 5,360 
General and administrative
5,172 3,724 
Total stock-based compensation expense
$25,177 $17,049