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Stockholders' Equity (Tables)
6 Months Ended
Jun. 30, 2023
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,
 2023202220232022
Cost of revenues$560 $669 $1,087 $1,292 
Research and development11,968 10,006 22,882 21,782 
Sales and marketing2,182 4,019 4,681 8,405 
General and administrative21,210 16,393 41,016 32,692 
Total share-based compensation expense$35,920 $31,087 $69,666 $64,171 
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, 20229,155,680 $36.03 
Granted5,269,726 15.68 
Released(2,080,263)36.20 
Forfeited(1,182,474)30.53 
Balance at June 30, 202311,162,669 26.98