Stock-Based Awards (Tables)

9 Months Ended

Sep. 30, 2021

Disclosure Of Compensation Related Costs Sharebased Payments [Abstract]

Summary of Stock Options Activity

The following table summarizes stock option activity for the nine months ended September 30, 2021 (in thousands):

	Number of Underlying Shares
Outstanding at December 31, 2020		3,061
Granted		10
Exercised		(453	)
Forfeited or expired		(57	)
Outstanding at September 30, 2021		2,561
Vested and exercisable at September 30, 2021		1,676

Summary of Restricted Stock Units

The following table summarizes activity for RSUs, PSUs, and MSUs, for the nine months ended September 30, 2021 (in thousands):

	Number of Underlying Shares
	RSUs			MSUs		PSUs
Outstanding at December 31, 2020		836			—		251
Granted		654			84		265
Vested		(264	)		—		(241	)
Forfeited		(34	)		—		(13	)
Outstanding at September 30, 2021		1,192			84		262

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,
	2021		2020		2021		2020
Cost of revenue	$	506	$	212	$	1,266	$	595
Research and development expense		4,610		2,088		12,288		5,749
Sales and marketing expense		2,617		1,451		6,739		4,023
General and administrative expense		3,187		1,932		8,658		5,134
Total stock-based compensation expense	$	10,920	$	5,683	$	28,951	$	15,501