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Stockholders' Equity (Tables) | 6 Months Ended
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Jun. 30, 2022
Summary of Time-Based RSUs Activity |
|  |  | Weighted average
| Number |  | grant date
| of shares |  | fair value
Outstanding at December 31, 2021 | 7,392 |  | $ | 19.78
Granted | 3,948 |  |  | 11.22
Vested | (2,026) |  |  | 14.90
Forfeited | (922) |  |  | 21.46
Outstanding at June 30, 2022 | 8,392 |  | $ | 16.75
Schedule of Stock-Based Compensation Expense |
| Three Months Ended June 30, |  | Six Months Ended June 30,
| 2022 |  | 2021 |  | 2022 |  | 2021
Cost of revenue | $ | 988 |  | $ | 1,906 |  | $ | 2,746 |  | $ | 2,898
Research and development |  | 7,748 |  |  | 4,310 |  |  | 16,713 |  |  | 7,357
Sales, general and administrative |  | 10,283 |  |  | 9,589 |  |  | 22,263 |  |  | 15,715
Total stock-based compensation expense | $ | 19,019 |  | $ | 15,805 |  | $ | 41,722 |  | $ | 25,970
Schedule of Fair Value of Employee Stock Options |
|  | Three Months Ended June 30, |  | Six Months Ended June 30,
|  | 2022 |  | 2021 |  | 2022 |  | 2021
Expected term in years |  |  | 4.6 |  |  | 4.6 |  |  | 4.6 |  |  | 4.6
Expected volatility |  |  | 72% |  |  | 70% |  |  | 70% - 72% |  |  | 68% - 70%
Risk-free interest rate |  |  | 2.77% |  |  | 0.74% |  |  | 1.76% - 2.77% |  |  | 0.50% - 0.74%
Dividend yield |  |  | — |  |  | — |  |  | — |  |  | —
Weighted average grant date fair value per share |  | $ | 3.26 |  | $ | 14.54 |  | $ | 6.05 |  | $ | 18.86
Schedule of Fair Value of Employee Stock Purchase Plan |
|  | Six Months Ended June 30,
|  | 2022 |  | 2021
Expected term in years |  |  | 0.5 – 2.0 |  |  | 0.5 - 2.0
Expected volatility |  |  | 70% |  |  | 68%
Risk-free interest rate |  |  | 0.60% – 1.31% |  |  | 0.07% - 0.13%
Dividend yield |  |  | — |  |  | —
Weighted average grant date fair value per share |  | $ | 5.42 |  | $ | 29.26
Time-based stock options [Member] |
Summary of Stock Option Activity |
|  | Stock Options Outstanding
|  |  |  |  |  |  | Weighted
|  | Number |  |  |  |  | average
|  | of shares |  | Exercise price |  | exercise price
Outstanding at December 31, 2021 |  | 12,159 |  | $ | 1.16 – 46.37 |  | $ | 11.38
Granted |  | 4,611 |  |  | 4.61 – 16.58 |  |  | 10.65
Exercised |  | (421) |  |  | 1.16 – 8.90 |  |  | 4.21
Canceled |  | (1,050) |  |  | 2.47 – 46.37 |  |  | 23.98
Outstanding at June 30, 2022 |  | 15,299 |  | $ | 1.16 – 46.37 |  | $ | 10.67
Performance-based stock options [Member] |
Summary of Stock Option Activity |
|  | Stock Options Outstanding
|  |  |  |  |  |  | Weighted
|  | Number |  |  |  |  | average
|  | of shares |  | Exercise price |  | exercise price
Outstanding at December 31, 2021 |  | 304 |  | $ | 4.71 – 4.90 |  | $ | 4.71
Granted |  | — |  |  | — |  |  | —
Exercised |  | — |  |  | — |  |  | —
Canceled |  | (1) |  |  | 4.71 – 4.90 |  |  | 4.75
Outstanding at June 30, 2022 |  | 303 |  | $ | 4.71 – 4.90 |  | $ | 4.71

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