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Stockholders' Equity (Tables)
6 Months Ended
Jun. 30, 2020
Share-based Payment Arrangement [Abstract]  
Stock-Based Compensation Expense for Employees and Non-Employees
Total share-based compensation expense recorded for employees and non-employees is as follows (in thousands):
 Three Months Ended June 30,Six Months Ended June 30,
 2020201920202019
Cost of revenues$213  $74  $382  $199  
Research and development7,620  5,218  14,611  10,135  
Sales and marketing2,436  1,754  4,622  3,562  
General and administrative9,277  8,406  18,265  16,594  
Total share-based compensation expense$19,546  $15,452  $37,880  $30,490  
Summary of Restricted Stock Unit Activity
Activity for RSUs and PSUs is as follows:
 RSUs and PSUs Outstanding
 Shares OutstandingWeighted Average Grant Date Fair Value
Balance at December 31, 20196,909,530  $24.04  
Granted2,298,799  41.67  
Released(3,197,978) 17.99  
Canceled(351,049) 30.00  
Balance at June 30, 20205,659,302  $34.24