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Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]  
Schedule of Share-based Compensation Expense Recorded in the Consolidated Statements of Comprehensive Loss
Stock-based compensation expense was recorded in the following cost and expense categories on the Company's consolidated statements of comprehensive loss:
 Year Ended December 31,
 202320222021
Cost of revenues$13,346 $12,262 $10,590 
Sales and marketing16,771 15,379 11,153 
Research and development15,157 13,987 13,273 
General and administrative33,914 23,529 19,318 
Total stock-based compensation expense$79,188 $65,157 $54,334 
Schedule of Share-based Compensation, Stock Options, Activity
Stock option activity was as follows:
Number of
Options		Weighted Average
Exercise Price
Balance as of January 1, 2021670 $27.43 
Granted— — 
Exercised(307)19.16 
Forfeited— — 
Balance as of December 31, 2021363 34.42 
Granted— — 
Exercised(27)26.06 
Forfeited— — 
Expired(12)35.80 
Balance as of December 31, 2022324 35.07 
Granted— — 
Exercised(74)30.91 
Forfeited— — 
Expired (4)27.86 
Balance as of December 31, 2023246 $36.43 
Schedule of Share-based Compensation, Shares Authorized under Stock Option Plans, by Exercise Price Range
The summary of stock options outstanding as of December 31, 2023 is as follows:
 Options Outstanding and Exercisable
Range of Exercise PricesNumber of
Options		Weighted Average
Exercise Price		Weighted Average
Remaining
Contractual Life
(in years)
$35.80 - $47.00
246 $36.43 0.2
Schedule of Restricted Stock Units Activity
Restricted stock unit activity was as follows:
Number of
Shares		Weighted Average
Grant Date Fair Value
Nonvested as of January 1, 20211,757 $70.74 
Granted786 109.91 
Vested(671)64.12 
Forfeited(252)81.89 
Nonvested as of December 31, 20211,620 90.75 
Granted2,186 45.62 
Vested(609)82.50 
Forfeited(253)78.70 
Nonvested as of December 31, 20222,944 59.99 
Granted1,981 32.31 
Vested(963)63.59 
Forfeited(366)48.39 
Nonvested as of December 31, 20233,596 $44.96 
Schedule of Market Stock Units and Performance Stock Units Activity
MSU and PSU activity was as follows:
Number of SharesWeighted Average Grant Date Fair Value
Nonvested as of January 1, 2021370 $35.67 
Granted125 77.63 
Change in awards based on performance(1)
206 39.67 
Vested(390)33.49 
Forfeited(30)40.19 
Nonvested as of December 31, 2021281 59.74 
Granted239 46.75 
Vested— — 
Forfeited(121)41.71 
Nonvested as of December 31, 2022399 57.42 
Granted587 39.59 
Vested(4)23.21 
Forfeited(48)55.55 
Nonvested as of December 31, 2023934 $46.45 
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(1)Represents the change in the number of TSR PSUs and MSUs earned based on performance achievement for the performance period.
Schedule of Share-based Payment Award Assumptions for Estimating Fair Value of Stock Option Grants
Significant assumptions used in the Monte Carlo simulation model for the TSR PSUs and MSUs granted during the year ended December 31, 2023, 2022, and 2021 are as follows:
As of December 31,
202320222021
Volatility
52.7 - 54.8%
45.4%
42.3 - 43.5%
Risk-free interest rate
3.9 - 4.5%
1.9%
0.3 - 1.0%
Dividend yield———
Longest remaining performance period (in years)333
Schedule of Share-Based Payment Award, Employee Stock Purchase Plan, Valuation Assumptions
The following summarizes the assumptions used for estimating the fair value of ESPP purchase rights:
 Year Ended December 31, 2023Year Ended December 31, 2022
Risk-free interest rate
5.3 - 5.4%
0.3 - 4.7%
Expected life (in years)
0.5
0.3 - 0.5
Expected volatility
37.2 - 66.0%
49.7 - 65.6%
Dividend yield——
Grant date fair value per share
$9.71 - $9.87
$9.45 - $17.30