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Stockholders' Equity (Tables)
6 Months Ended
Jun. 30, 2021
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,
 2021202020212020
Cost of revenues$419 $213 $781 $382 
Research and development9,100 7,620 17,059 14,611 
Sales and marketing3,655 2,436 6,574 4,622 
General and administrative15,371 9,277 27,231 18,265 
Total share-based compensation expense$28,545 $19,546 $51,645 $37,880 
Schedule of Share-based Payment Award, Employee Stock Purchase Plan, Valuation Assumptions
The following table summarizes the key assumptions used to determine the fair value of the awards:

Expected term (years)3.00
Expected volatility49.04 %
Expected dividends— %
Risk-free interest rate0.27 %
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, 20204,816,000 $37.82 
Granted2,106,680 86.84 
Released(1,949,524)32.28 
Canceled(295,779)42.34 
Balance at June 30, 20214,677,377 $61.92