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Stockholders' Equity (Tables)
9 Months Ended
Sep. 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
September 30,
Nine Months Ended
September 30,
 2023202220232022
Cost of revenues$598 $653 $1,685 $1,945 
Research and development11,027 9,172 33,909 30,954 
Sales and marketing2,435 2,771 7,116 11,176 
General and administrative17,870 21,574 58,886 54,266 
Total share-based compensation expense$31,930 $34,170 $101,596 $98,341 
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 
Granted5,546,566 15.39 
Released(2,852,092)35.71 
Forfeited(1,554,544)32.67 
Balance at September 30, 202310,295,610 25.51