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Stockholders' Equity (Tables) | 12 Months Ended
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Dec. 31, 2020
Equity [Abstract] |
Summary of Common Stock Reserved for Future Issuance | Shares of our common stock reserved for future issuance as of December 31, 2020 were as follows:
|  | Number of |
|  | Shares |
Stock options outstanding |  |  | 18,912,529 |
Restricted stock units outstanding |  |  | 602,741 |
Stock options available for grant |  |  | 1,575,955 |
Employee Stock Purchase Plan |  |  | 176,250 |
Warrants outstanding |  |  | 220,164 |
Shares of common stock underlying Convertible Notes outstanding (see Note 8) |  |  | 9,510,208 |
Total shares reserved for future issuance |  |  | 30,997,847 |
Summary of Stock Option Plan Activity (Including Restricted Stock Units) | The following table summarizes the stock option plan activity (including RSUs):
|  | Outstanding Options |
|  |  |  |  |  | Weighted- |
|  |  |  |  |  | Average |
|  | Number of |  |  | Exercise |
|  | Shares |  |  | Price |
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 |
Granted |  |  | 4,659,942 |  |  | $ | 13.95 |
Exercised |  |  | (544,441 | ) |  | $ | 12.41 |
Cancelled |  |  | (1,264,871 | ) |  | $ | 22.84 |
Balance at December 31, 2020 |  |  | 19,515,270 |  |  | $ | 18.98 |
Schedule of Options Exercisable, Vested or Expected to Vest |
|  | Years Ended December 31, |
|  | 2020 |  |  | 2019 |  |  | 2018 |
|  |  |  |  |  | Weighted- |  |  |  |  |  |  | Weighted- |  |  |  |  |  |  | Weighted- |
|  |  |  |  |  | Average |  |  |  |  |  |  | Average |  |  |  |  |  |  | Average |
|  |  |  |  |  | Exercise |  |  |  |  |  |  | Exercise |  |  |  |  |  |  | Exercise |
|  | Options |  |  | Price |  |  | Options |  |  | Price |  |  | Options |  |  | Price |
Exercisable at end of year |  |  | 10,237,202 |  |  | $ | 18.74 |  |  |  | 7,436,379 |  |  | $ | 17.02 |  |  |  | 6,523,093 |  |  | $ | 14.83 |
Options vested or expected to vest |  |  | 18,179,553 |  |  | $ | 19.58 |  |  |  | 15,962,432 |  |  | $ | 20.31 |  |  |  | 14,449,017 |  |  | $ | 18.11 |
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, 2020 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 |
| 2,700,473 |  |  | $5.20–$13.00 |  |  | 3.97 |  |  | $ | 10.14 |  |  |  | 2,691,327 |  |  | $ | 10.14 |
| 800,371 |  |  | $13.05–$15.55 |  |  | 6.13 |  |  |  | 14.31 |  |  |  | 655,173 |  |  |  | 14.22 |
| 3,582,407 |  |  | $15.72 |  |  | 9.75 |  |  |  | 15.72 |  |  |  | 149,197 |  |  |  | 15.72 |
| 2,838,033 |  |  | $15.78–$17.89 |  |  | 6.10 |  |  |  | 16.87 |  |  |  | 2,348,090 |  |  |  | 16.84 |
| 3,688,255 |  |  | $18.00–$24.97 |  |  | 7.15 |  |  |  | 22.97 |  |  |  | 2,036,430 |  |  |  | 23.10 |
| 3,498,912 |  |  | $25.02 |  |  | 8.63 |  |  |  | 25.02 |  |  |  | 1,010,859 |  |  |  | 25.02 |
| 1,804,078 |  |  | $25.06–$39.00 |  |  | 6.64 |  |  |  | 30.58 |  |  |  | 1,346,126 |  |  |  | 30.43 |
| 18,912,529 |  |  |  |  |  | 7.21 |  |  |  | 19.59 |  |  |  | 10,237,202 |  |  |  | 18.74 |
Summary of Stock-Based Compensation Expense related to Stock-Based Payment Awards | The following table summarizes stock-based compensation expense related to stock-based payment awards pursuant to our equity compensation arrangements (in thousands):
|  | December 31, |
|  | 2020 |  |  | 2019 |  |  | 2018 |
Research and development |  | $ | 20,731 |  |  | $ | 19,202 |  |  | $ | 13,689 |
General and administrative |  |  | 15,601 |  |  |  | 13,564 |  |  |  | 9,630 |
Sales and marketing |  |  | 13,886 |  |  |  | 18,645 |  |  |  | 10,048 |
Total stock-based compensation expense |  | $ | 50,218 |  |  | $ | 51,411 |  |  | $ | 33,367 |
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, |
|  | 2020 |  |  | 2019 |  |  | 2018 |
Risk-free interest rate |  |  | 0.5 | % |  |  | 1.8 | % |  |  | 2.8 | %
Dividend yield |  |  | — | % |  |  | — | % |  |  | — | %
Volatility |  |  | 69.4 | % |  |  | 66.5 | % |  |  | 70.4 | %
Expected life (years) |  |  | 6 |  |  |  | 6 |  |  |  | 6 |
ESPP:
|  | December 31, |
|  | 2020 |  |  | 2019 |  |  | 2018 |
Risk-free interest rate |  |  | 0.1 | % |  |  | 1.9 | % |  |  | 2.4 | %
Dividend yield |  |  | — | % |  |  | — | % |  |  | — | %
Volatility |  |  | 67.7 | % |  |  | 52.1 | % |  |  | 59.7 | %
Expected life (months) |  |  | 6 |  |  |  | 6 |  |  |  | 6 |

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