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Equity Incentive Plans (Tables)
 12 Months Ended
Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]  
Schedule of the Company's Stock Option Activity
A summary of the Company’s stock option activity under the Plans is as follows:
Outstanding
Options
Weighted-
Average
Exercise
Price
Weighted-
Average
Remaining
Term
(Years)
Aggregate
Intrinsic Value
Balance as of December 31, 20227,964,557 $37.10 6.4$128,069,003 
Granted387,757 51.31 
Exercised(1,782,196)6.76 
Cancelled and forfeited(623,332)84.31 
Balance as of December 31, 20235,946,786 $42.17 6.3$144,350,070 
Vested and exercisable as of December 31, 20234,460,855 $36.82 5.5$129,774,778 
Schedule of Share-Based Payment Award, Stock Options, Valuation Assumptions
The fair value of each employee option grant was estimated on the date of grant using the Black-Scholes option pricing model and the following assumptions for the periods indicated:
Year Ended December 31,
202320222021
Expected volatility
70% – 71%
65% – 71%
67% – 69%
Risk-free interest rate
 3.7% –  4.6%
1.6% – 4.1%
1.0% – 1.1%
Expected term
5.3 – 6.1 years
5.3 – 6.1 years
6.0 – 6.1 years
Expected dividend—%—%—%
The Company estimates the fair values of shares granted under the PSAs using a Monte Carlo simulation model with the following assumptions:
Year Ended December 31,
2023
Expected volatility71%
Risk-free interest rate3.7%
Expected dividend—%
The Company estimates the fair values of shares under the Performance stock options using a Monte Carlo simulation model with the following assumptions:
Year Ended December 31,
2022
Expected volatility68%
Risk-free interest rate3.4%
Expected dividend—%
Schedule of RSU Activity
Restricted stock units (“RSUs”) activity for the year ended December 31, 2023 is as follows:
Restricted Stock
Units		Weighted-Average
Grant Date Fair Value
(per share)
Balance as of December 31, 20225,836,192 $52.21 
Granted2,320,714 50.08 
Vested(1,900,620)59.60 
Cancelled(922,152)54.42 
Outstanding as of December 31, 20235,334,134 $48.26 
Schedule of Fair value of the Employee Stock Purchase Plan
The following assumptions were used in estimating the fair values of shares under the ESPP:
Year Ended December 31,
202320222021
Expected volatility
49% – 58%
81% – 92%
47% – 69%
Risk-free interest rate
5.24% – 5.41%
1.54% – 4.54%
0.04% – 0.06%
Expected term (in years)
0.5
0.5
0.50 – 1.0
Expected dividend—%—%
0%
Schedule of Recorded Stock-based Compensation Expense in the Condensed Consolidated Statement of Operations
The Company recorded stock-based compensation expense in the consolidated statement of operations for the periods presented as follows (in thousands):
Year Ended December 31,
202320222021
Cost of revenue$7,068 $5,259 $3,231 
Research and development72,804 59,211 41,970 
Selling, general and administrative87,078 72,378 50,761 
Total stock-based compensation expense$166,950 $136,848 $95,962