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Stockholders' Equity (Tables) | 12 Months Ended
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Dec. 31, 2022
Summary of Time-Based RSUs Activity |
|  |  |  | Weighted-average
|  | Number |  | grant date
|  | of shares |  | fair value
RSUs outstanding at December 31, 2021 |  | 7,392 |  | $ | 19.78
RSUs granted |  | 5,389 |  | $ | 10.15
RSUs released |  | (2,582) |  | $ | 15.19
RSUs forfeited |  | (1,664) |  | $ | 19.42
Unvested RSUs outstanding at December 31, 2022 |  | 8,535 |  | $ | 15.16
Schedule of Stock-Based Compensation Expense |
|  | Years Ended December 31,
|  | 2022 |  | 2021 |  | 2020
Cost of revenue |  | $ | 4,802 |  | $ | 6,126 |  | $ | 2,236
Research and development |  |  | 30,676 |  |  | 20,275 |  |  | 7,061
Sales, general and administrative |  |  | 43,135 |  |  | 35,403 |  |  | 8,236
Merger-related expenses - stock-settled |  |  | — |  |  | 6,349 |  |  | —
Merger-related expenses - milestone |  |  | — |  |  | 5,202 |  |  | —
Share-based compensation |  |  | 78,613 |  |  | 73,355 |  |  | 17,533
Merger-related expenses - cash-settled |  |  | — |  |  | 7,373 |  |  | —
Total share-based compensation expense |  | $ | 78,613 |  | $ | 80,728 |  | $ | 17,533
Schedule of Fair Value of Employee Stock Options |
|  | Years Ended December 31,
|  | 2022 |  | 2021 |  | 2020
Expected term in years |  |  | 4.6 |  |  | 2.1 - 4.6 |  |  | 5.0
Expected volatility |  |  | 70% - 76% |  |  | 67% - 80% |  |  | 70.7%
Risk-free interest rate |  |  | 0.41% – 3.66% |  |  | 0.05% – 1.10% |  |  | 0.3%
Dividend yield |  |  | — |  |  | — |  |  | —
Weighted-average grant date fair value per share |  | $ | 5.93 |  | $ | 15.53 |  | $ | 7.20
Schedule of Fair Value of Employee Stock Purchase Plan |
|  | Years Ended December 31,
|  | 2022 |  | 2021 |  | 2020
Expected term in years |  |  | 0.5 - 2.0 |  |  | 0.5 - 2.0 |  |  | 0.5 - 2.0
Expected volatility |  |  | 70% - 97% |  |  | 67% - 68% |  |  | 57% - 71%
Risk-free interest rate |  |  | 0.60% - 3.51% |  |  | 0.1% - 0.2% |  |  | 0.1%-1.0%
Dividend yield |  |  | — |  |  | — |  |  | —
Weighted-average grant date fair value per share |  | $ | 4.28 |  | $ | 25.07 |  | $ | 1.87
Time-based stock options [Member] |
Summary of Stock Option Activity |
|  | Number |  | Weighted-average
|  | of shares |  | exercise price
Outstanding at December 31, 2021 |  | 12,159 |  | $ | 11.38
Granted |  | 5,211 |  | $ | 10.34
Exercised |  | (1,052) |  | $ | 3.25
Canceled |  | (1,603) |  | $ | 19.66
Expired |  | (97) |  | $ | 24.26
Outstanding at December 31, 2022 |  | 14,618 |  | $ | 10.60
Performance-based stock options [Member] |
Summary of Stock Option Activity |
|  | Number |  | Weighted-average
|  | of shares |  | exercise price
Outstanding at December 31, 2021 |  | 304 |  | $ | 4.71
Granted |  | — |  | $ | —
Exercised |  | — |  | $ | —
Canceled |  | (46) |  | $ | 4.71
Outstanding at December 31, 2022 |  | 258 |  | $ | 4.71

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