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Stockholders' Equity (Tables) | 12 Months Ended
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Dec. 31, 2023
Share-Based Payment Arrangement [Abstract] |
Stock-Based Compensation Expense for Employees and Non-Employees | The following table presents total share-based compensation expense recorded (in thousands):
|  |  | Years Ended December 31,
|  |  |  |  | 2023 |  | 2022 |  | 2021
Cost of revenues |  |  |  |  | $ | 2,256 |  |  | $ | 2,484 |  |  | $ | 1,621 |
Research and development |  |  |  |  | 44,103 |  |  | 41,335 |  |  | 37,131 |
Sales and marketing |  |  |  |  | 9,524 |  |  | 13,857 |  |  | 13,887 |
General and administrative |  |  |  |  | 77,619 |  |  | 75,780 |  |  | 56,207 |
Total share-based compensation expense |  |  |  |  | $ | 133,502 |  |  | $ | 133,456 |  |  | $ | 108,846 |
Schedule of Assumptions Used to Determine Fair Value of ESPP | The following table presents the key assumptions used to determine the fair value of the awards:
Expected term (years) | 3.00
Expected volatility | 49.04 | %
Expected dividends | — | %
Risk-free interest rate | 0.27 | %
The following table presents the key assumptions used to determine the fair value of rights granted under the ESPP:
|  |  | Years Ended December 31,
|  |  |  |  | 2023 |  | 2022 |  | 2021
Expected term (years) |  |  |  |  | 0.50 |  | 0.50 |  | 0.50
Expected volatility |  |  |  |  | 55.79%-109.39% |  | 70.37%-78.74% |  | 47.02%-99.96%
Dividend yield |  |  |  |  | 0.00% |  | 0.00 | % |  | 0.00 | %
Risk-free interest rate |  |  |  |  | 5.24%-5.41% |  | 1.54%-4.54% |  | 0.04%-0.07%
Weighted-average grant-date fair value per share |  |  |  |  | $ | 3.62 |  |  | $ | 8.71 |  |  | $ | 14.70 |
Schedule of Restricted Stock Unit Activity | RSUs and PSUs Activity
| RSUs and PSUs Outstanding
| Number of RSUs and PSUs Outstanding |  | Weighted Average Grant Date Fair Value
Balance at December 31, 2022 | 9,155,680 |  |  | $ | 36.03 |
Granted | 6,283,841 |  |  | 14.58 |
Released | (3,637,801) |  |  | 35.32 |
Forfeited | (1,735,937) |  |  | 31.79 |
Balance at December 31, 2023 | 10,065,783 |  |  | $ | 23.63 |
Schedule of Stock Option Activity | Stock Option Activity
|  |  | Stock Options Outstanding
|  |  | Number of Stock Options Outstanding |  | Weighted-Average Exercise Price per Share |  | Weighted-Average Remaining Contractual Term in Years |  | Aggregate Intrinsic Value
Balance at December 31, 2022 |  |  | 326,258 |  |  | $ | 7.02 |  |  | 2.15 |  | $ | 5,954,714 |
Exercised |  |  | (72,049) |  |  |  |  |  |  |
Forfeited |  |  | (21,882) |  |  |  |  |  |  |
Balance at December 31, 2023 |  |  | 232,327 |  |  | $ | 6.02 |  |  | 1.81 |  | $ | 1,240,014 |

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