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Stock Based Compensation (Tables) | 12 Months Ended
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Dec. 31, 2021
Share-based Payment Arrangement [Abstract] |
Summary of Stock-Based Compensation Expense | The following table summarizes stock-based compensation expense recognized for the years ended December 31, 2021, 2020 and 2019, as follows:
| 2021 |  | 2020 |  | 2019
Research and development | $ | 7,416 |  |  | $ | 6,110 |  |  | $ | 181 |
Sales and marketing | 8,770 |  |  | 4,505 |  |  | 111 |
General and administrative | 44,145 |  |  | 13,142 |  |  | 945 |
Total stock-based compensation expense | $ | 60,331 |  |  | $ | 23,757 |  |  | $ | 1,237 |
Summary of Stock Option and RSU Activity | Stock option and RSU activity during the year ended December 31, 2021 is as follows (in thousands, except for share, per share, and contractual term data):
|  |  | Options Outstanding |  | Restricted Stock Units
| Number of Shares Available for Issuance Under the Plan |  | Number of Shares Outstanding Under the Plan |  | Weighted- Average Exercise Price |  | Weighted- Average Remaining Contractual Term (Years) |  | Aggregate Intrinsic Value |  | Number of Plan shares outstanding |  | Weighted-Average Grant Date Fair Value per share
Balance at December 31, 2020 | 35,500,603 |  |  | 38,404,493 |  |  | $ | 5.89 |  |  | 8.27 |  | $ | 542,074 |  |  | 341,256 |  |  | $ | 17.68 |
Options and restricted stock units granted | (8,494,636) |  |  | 64,839 |  |  | 12.58 |  |  |  |  |  |  | 8,424,462 |  |  | 14.32 |
Options exercised and restricted stock units released | — |  |  | (5,850,228) |  |  | 0.66 |  |  |  |  |  |  | (117,933) |  |  | 17.40 |
Options and restricted stock units canceled | 5,939,704 |  |  | (4,892,016) |  |  | 1.17 |  |  |  |  |  |  | (1,047,688) |  |  | 23.37 |
Balance at December 31, 2021 | 32,945,671 |  |  | 27,727,088 |  |  | $ | 7.79 |  |  | 7.04 |  | $ | 113,110 |  |  | 7,600,097 |  |  | $ | 13.17 |
Exercisable at December 31, 2020 |  |  | 14,248,234 |  |  | $ | 0.18 |  |  | 6.45 |  | $ | 282,364 |  |  |  |  |
Exercisable at December 31, 2021 |  |  | 13,157,036 |  |  | $ | 0.15 |  |  | 5.17 |  | $ | 95,946 |  |  |  |  |
Unvested at December 31, 2020 |  |  | 24,156,259 |  |  | $ | 9.25 |  |  | 9.34 |  | $ | 259,710 |  |  |  |  |
Unvested at December 31, 2021 |  |  | 14,570,052 |  |  | $ | 14.69 |  |  | 8.72 |  | $ | 17,164 |  |  |  |  |
Summary of Stock Option Valuation Assumptions | The assumptions used to estimate the fair value of stock options granted and the resulting fair values for the year ended December 31, 2021, 2020 and 2019 were as follows:
| 2021 |  | 2020 |  | 2019
Expected volatility | 48.71% |  | 45% – 50% |  | 47.17% – 55.47%
Risk-free interest rate | 0.02% |  | 0.27% – 1.44% |  | 1.57% – 2.64%
Expected term (in years) | 0.25 |  | 4.14-6.25 |  | 5.00 – 6.86
Expected dividend yield | — |  | — |  | —
Weighted average estimated fair value of stock options granted during the year | $15.63 |  | $5.06 |  | $0.21

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