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Stockholders' Equity (Tables) | 12 Months Ended
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Dec. 31, 2019
Equity [Abstract] |
Summary of Common Stock Reserved for Future Issuance | Shares of our common stock reserved for future issuance as of December 31, 2019 were as follows (in thousands):
|  | Number of |
|  | Shares |
Stock options outstanding |  |  | 16,665 |
Stock options available for grant |  |  | 4,971 |
Employee Stock Purchase Plan |  |  | 370 |
Warrants outstanding |  |  | 508 |
Shares of common stock underlying Convertible Notes outstanding (see Note 8) |  |  | 8,960 |
Total shares reserved for future issuance |  |  | 31,474 |
Summary of Stock Option Activity | The following table summarizes the stock option activity:
|  | Outstanding Options |
|  |  |  |  |  | Weighted- |
|  |  |  |  |  | Average |
|  | Number of |  |  | Exercise |
|  | Shares |  |  | Price |
Balance at December 31, 2016 |  |  | 11,845,376 |  |  | $ | 14.44 |
Granted |  |  | 4,300,621 |  |  | $ | 16.17 |
Exercised |  |  | (1,350,605 | ) |  | $ | 8.49 |
Cancelled |  |  | (1,332,428 | ) |  | $ | 20.06 |
Balance at December 31, 2017 |  |  | 13,462,964 |  |  | $ | 15.03 |
Granted |  |  | 4,052,011 |  |  | $ | 26.83 |
Exercised |  |  | (1,529,509 | ) |  | $ | 11.97 |
Cancelled |  |  | (720,859 | ) |  | $ | 17.98 |
Balance at December 31, 2018 |  |  | 15,264,607 |  |  | $ | 18.33 |
Granted |  |  | 4,933,480 |  |  | $ | 24.21 |
Exercised |  |  | (1,983,221 | ) |  | $ | 11.18 |
Cancelled |  |  | (1,550,226 | ) |  | $ | 23.26 |
Balance at December 31, 2019 |  |  | 16,664,640 |  |  | $ | 20.47 |
Schedule of Options Exercisable, Vested or Expected to Vest |
|  | Years Ended December 31, |
|  | 2019 |  |  | 2018 |  |  | 2017 |
|  |  |  |  |  | Weighted- |  |  |  |  |  |  | Weighted- |  |  |  |  |  |  | Weighted- |
|  |  |  |  |  | Average |  |  |  |  |  |  | Average |  |  |  |  |  |  | Average |
|  |  |  |  |  | Exercise |  |  |  |  |  |  | Exercise |  |  |  |  |  |  | Exercise |
|  | Options |  |  | Price |  |  | Options |  |  | Price |  |  | Options |  |  | Price |
Exercisable at end of year |  |  | 7,436,379 |  |  | $ | 17.02 |  |  |  | 6,523,093 |  |  | $ | 14.83 |  |  |  | 5,446,586 |  |  | $ | 13.25 |
Options vested or expected to vest |  |  | 15,962,432 |  |  | $ | 20.31 |  |  |  | 14,449,017 |  |  | $ | 18.11 |  |  |  | 12,854,571 |  |  | $ | 14.98 |
Schedule of Exercise Prices And Weighted-average Remaining Contractual Lives For Options Outstanding | Exercise prices and weighted-average remaining contractual lives for the options outstanding as of December 31, 2019 were:
|  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | Weighted- |
|  |  |  |  |  |  |  | Weighted- |  |  |  |  |  |  |  |  |  |  | Average |
|  |  |  |  |  |  |  | Average |  |  | Weighted- |  |  |  |  |  |  | Exercise |
|  |  |  |  |  |  |  | Remaining |  |  | Average |  |  |  |  |  |  | Price of |
Options |  |  | Range of |  |  | Contractual |  |  | Exercise |  |  | Options |  |  | Options |
Outstanding |  |  | Exercise Prices |  |  | Life (in years) |  |  | Price |  |  | Exercisable |  |  | Exercisable |
| 3,027,881 |  |  | $5.20–$13.00 |  |  |  | 4.97 |  |  | $ | 10.16 |  |  |  | 2,720,921 |  |  | $ | 9.84 |
| 3,834,655 |  |  | $13.05–$17.00 |  |  |  | 7.42 |  |  |  | 16.23 |  |  |  | 2,326,188 |  |  |  | 16.17 |
| 1,623,707 |  |  | $17.05–$24.55 |  |  |  | 8.01 |  |  |  | 20.10 |  |  |  | 704,338 |  |  |  | 20.48 |
| 2,336,151 |  |  |  | $24.97 |  |  |  | 8.93 |  |  |  | 24.97 |  |  |  | 644,066 |  |  |  | 24.97 |
| 3,877,880 |  |  |  | $25.02 |  |  |  | 9.95 |  |  |  | 25.02 |  |  |  | — |  |  |  | — |
| 1,940,366 |  |  | $25.06–$38.75 |  |  |  | 7.58 |  |  |  | 30.48 |  |  |  | 1,032,365 |  |  |  | 30.38 |
| 24,000 |  |  |  | $39.00 |  |  |  | 8.56 |  |  |  | 39.00 |  |  |  | 8,501 |  |  |  | 39.00 |
| 16,664,640 |  |  |  |  |  |  |  | 7.58 |  |  |  | 20.47 |  |  |  | 7,436,379 |  |  |  | 17.02 |
Summary of Stock-Based Compensation Expense related to Stock-Based Payment Awards Granted | The following table summarizes stock-based compensation expense related to stock-based payment awards granted pursuant to all of our equity compensation arrangements (in thousands):
|  | December 31, |
|  | 2019 |  |  | 2018 |  |  | 2017 |
Research and development |  | $ | 19,202 |  |  | $ | 13,689 |  |  | $ | 11,312 |
General and administrative |  |  | 13,564 |  |  |  | 9,630 |  |  |  | 9,469 |
Sales and marketing |  |  | 18,645 |  |  |  | 10,048 |  |  |  | 9,757 |
Total stock-based compensation expense |  | $ | 51,411 |  |  | $ | 33,367 |  |  | $ | 30,538 |
Summary of Fair Value of Option Grant and ESPP Purchase Right on Grant Date Using Black-Scholes Option Pricing Model | We estimated the fair value of each option grant and ESPP purchase right on the date of grant using the Black-Scholes option pricing model with the following weighted-average assumptions: Options:
|  | December 31, |
|  | 2019 |  |  | 2018 |  |  | 2017 |
Risk-free interest rate |  |  | 1.8 | % |  |  | 2.8 | % |  |  | 2.1 | %
Dividend yield |  |  | — | % |  |  | — | % |  |  | — | %
Volatility |  |  | 66.5 | % |  |  | 70.4 | % |  |  | 74.0 | %
Expected life (years) |  |  | 6 |  |  |  | 6 |  |  |  | 6 |
ESPP:
|  | December 31, |
|  | 2019 |  |  | 2018 |  |  | 2017 |
Risk-free interest rate |  |  | 1.9 | % |  |  | 2.4 | % |  |  | 1.2 | %
Dividend yield |  |  | — | % |  |  | — | % |  |  | — | %
Volatility |  |  | 52.1 | % |  |  | 59.7 | % |  |  | 50.0 | %
Expected life (months) |  |  | 6 |  |  |  | 6 |  |  |  | 6 |

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