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Stockholders' Equity (Tables) | 9 Months Ended
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Sep. 30, 2020
Stockholders' Equity [Abstract] |
Summary of Stock Option Activity |
|  | Stock Options Outstanding
|  |  |  |  |  |  | Weighted
|  | Number |  |  |  |  | average
|  | of shares |  | Exercise price |  | exercise price
Balances, December 31, 2019 |  | 22,697 |  | $ | 1.16 – 16.00 |  | $ | 5.57
Options granted |  | 2,717 |  |  | 2.45 – 9.6 |  |  | 6.61
Options exercised |  | (2,763) |  |  | 1.16 – 6.98 |  |  | 4.25
Options canceled |  | (2,730) |  |  | 1.16 – 15.77 |  |  | 7.61
Balances, September 30, 2020 |  | 19,921 |  | $ | 1.16 – 16.00 |  | $ | 5.62
Summary of Time-Based RSUs Activity |
|  |  | Weighted average
| Number |  | grant date
| of shares |  | fair value
RSUs outstanding at December 31, 2019 | 1,086 |  | $ | 6.12
RSUs granted | 6,395 |  |  | 4.84
RSUs released | (876) |  |  | 6.76
RSUs forfeited | (634) |  |  | 4.40
Unvested RSUs outstanding at September 30, 2020 | 5,971 |  | $ | 4.84
Summary of Performance-Based RSUs Activity |
|  |  | Weighted average
| Number |  | grant date
| of shares |  | fair value
PSUs outstanding at December 31, 2019 | 138 |  | $ | 2.63
PSUs granted | — |  |  | —
PSUs released | — |  |  | —
PSUs forfeited | (44) |  |  | 2.63
Unvested PSUs outstanding at September 30, 2020 | 94 |  | $ | 2.63
Schedule of Stock-Based Compensation Expense |
| Three Months Ended September 30, |  | Nine Months Ended September 30, |
| 2020 |  | 2019 |  | 2020 |  | 2019 |
Cost of revenue | $ | 735 |  | $ | 450 |  | $ | 1,714 |  | $ | 1,406 |
Research and development |  | 2,105 |  |  | 1,906 |  |  | 5,297 |  |  | 5,836 |
Sales, general and administrative |  | 2,152 |  |  | 1,706 |  |  | 5,247 |  |  | 5,290 |
Total stock-based compensation expense | $ | 4,992 |  | $ | 4,062 |  | $ | 12,258 |  | $ | 12,532 |
Schedule of Fair Value of Employee Stock Options |
| Three Months Ended September 30, |  | Nine Months Ended September 30, |
Stock Option | 2020 |  | 2019 |  | 2020 |  | 2019 |
Expected term in years | 5.1 |  | — |  | 5.1 |  | — |
Expected volatility | 71% |  | — |  | 57% - 71% |  | — |
Risk-free interest rate | 0.3% |  | — |  | 0.3% - 1.2% |  | — |
Dividend yield | — |  | — |  | — |  | — |
Schedule of Fair Value of Employee Stock Purchase Plan |
| Three Months Ended September 30, |  | Nine Months Ended September 30,
ESPP | 2020 |  | 2019 |  | 2020 |  | 2019
Expected term in years | 0.5 - 2.0 |  | — |  | 0.5 - 2.0 |  | —
Expected volatility | 71% |  | — |  | 57% - 71% |  | —
Risk-free interest rate | 0.1% |  | — |  | 0.1% -1.0% |  | —
Dividend yield | — |  | — |  | — |  | —

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