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Stockholders' Equity (Tables)
6 Months Ended
Jun. 30, 2022
Share-Based Payment Arrangement [Abstract]  
Schedule of 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,
 2022202120222021
Cost of revenues$669 $419 $1,292 $781 
Research and development10,006 9,100 21,782 17,059 
Sales and marketing4,019 3,655 8,405 6,574 
General and administrative16,393 15,371 32,692 27,231 
Total share-based compensation expense$31,087 $28,545 $64,171 $51,645 
Schedule 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, 20218,171,462 $46.36 
Granted3,905,418 29.71 
Released(1,003,448)65.24 
Forfeited(1,226,520)41.29 
Balance at June 30, 20229,846,912 $38.49