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Stockholders' Equity (Tables)
9 Months Ended
Sep. 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 September 30,Nine Months Ended September 30,
 2020201920202019
Cost of revenues$262 $96 $644 $295 
Research and development8,433 5,741 23,044 15,876 
Sales and marketing2,431 1,843 7,053 5,405 
General and administrative10,403 9,185 28,668 25,779 
Total share-based compensation expense$21,529 $16,865 $59,409 $47,355 
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 
Granted2,462,160 43.54 
Released(3,591,076)18.89 
Canceled(409,544)30.57 
Balance at September 30, 20205,371,070 $35.92