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Stockholders' Equity (Tables) | 3 Months Ended
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Mar. 31, 2021
Stockholders' Equity [Abstract] |
Summary of Stock Option Activity |
|  | Stock Options Outstanding
|  |  |  |  |  |  | Weighted
|  | Number |  |  |  |  | average
|  | of shares |  | Exercise price |  | exercise price
Balances, December 31, 2020 |  | 14,638 |  | $ | 1.16 – 20.90 |  | $ | 5.53
Options granted |  | 1,697 |  |  | 31.18 – 46.37 |  |  | 37.37
Options exercised |  | (3,558) |  |  | 1.16 – 15.98 |  |  | 5.43
Options canceled |  | (445) |  |  | 2.54 – 5.27 |  |  | 3.79
Balances, March 31, 2021 |  | 12,332 |  | $ | 1.16 – 46.37 |  | $ | 10.00
Summary of Time-Based RSUs Activity |
|  |  | Weighted average
| Number |  | grant date
| of shares |  | fair value
RSUs outstanding at December 31, 2020 | 5,919 |  | $ | 5.25
RSUs granted | 2,123 |  |  | 42.39
RSUs released | (1,412) |  |  | 4.45
RSUs forfeited | (103) |  |  | 12.10
Unvested RSUs outstanding at March 31, 2021 | 6,527 |  | $ | 17.40
Summary of Performance-Based RSUs Activity |
|  |  | Weighted average
| Number |  | grant date
| of shares |  | fair value
PSUs outstanding at December 31, 2020 | 94 |  | $ | 2.63
PSUs granted | — |  |  | —
PSUs released | — |  |  | —
PSUs forfeited | (94) |  |  | 2.63
Unvested PSUs outstanding at March 31, 2021 | — |  | $ | —
Schedule of Stock-Based Compensation Expense |
| Three Months Ended March 31,
| 2021 |  | 2020
Cost of revenue | $ | 992 |  | $ | 527
Research and development |  | 3,048 |  |  | 1,759
Sales, general and administrative |  | 6,125 |  |  | 1,746
Total stock-based compensation expense | $ | 10,165 |  | $ | 4,032
Schedule of Fair Value of Employee Stock Options |
| Three Months Ended March 31,
Stock Option | 2021 |  | 2020
Expected term in years | 4.6 |  | 5.1
Expected volatility | 68% |  | 57%
Risk-free interest rate | 0.50% |  | 1.20%
Dividend yield | — |  | —
Schedule of Fair Value of Employee Stock Purchase Plan |
| Three Months Ended March 31,
ESPP | 2021 |  | 2020
Expected term in years | 0.5 - 2.0 |  | 0.5 - 2.0
Expected volatility | 68% |  | 57%
Risk-free interest rate | 0.07% - 0.13% |  | 0.8% - 1.0%
Dividend yield | — |  | —

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