Stock-Based Awards (Tables)

9 Months Ended

Sep. 30, 2022

Share-Based Payment Arrangement [Abstract]

Summary of Stock Options Activity

The following table summarizes stock option activity for the nine months ended September 30, 2022 (in thousands):

	Number of Underlying Shares
Outstanding at December 31, 2021		2,288
Granted		—
Exercised		(426	)
Forfeited or expired		(18	)
Outstanding at September 30, 2022		1,844
Vested and exercisable at September 30, 2022		1,517

Summary of Restricted Stock Units

The following table summarizes activity for RSUs, PSUs and MSUs for the nine months ended September 30, 2022 (in thousands):

	Number of Underlying Shares
	RSUs			MSUs			PSUs
Outstanding at December 31, 2021		1,165			84			268
Granted		701			57			75
Vested		(380	)		—			(269	)
Forfeited		(96	)		(25	)		(2	)
Outstanding at September 30, 2022		1,390			116			72

Summary of Stock-Based Compensation Expense

The following table presents stock-based compensation expense included in our condensed consolidated statements of operations for the periods presented (in thousands):

	Three Months Ended September 30,				Nine Months Ended September 30,
	2022		2021		2022		2021
Cost of revenue	$	509	$	506	$	1,407	$	1,266
Research and development expense		4,368		4,610		13,479		12,288
Sales and marketing expense		1,853		2,617		7,247		6,739
General and administrative expense		3,327		3,187		10,097		8,658
Total stock-based compensation expense	$	10,057	$	10,920	$	32,230	$	28,951