A friend who worked at the company forwarded my resume. I eventually got a phone interview with a program manager, which involved a few technical and behavioral questions to gauge my background and interest. I was invited for an in-person interview, expenses on them.
The in-person interview consisted of a 45 minute presentation of my past research and then 6 or so one-on-one interviews with different program managers that lasted 30min each. There was a break for lunch, with my host program manager. The one-on-one interviews varied. Some asked a lot of technical questions and were more aggressive, others were friendlier and asked more behavior questions, or just about my past experience.
I can say for sure that it's okay to not do as-well in one of the one-on-one interviews as long as you do well on others. I left that day not thinking I did well, and didn't hear from them for nearly three weeks so assumed I didn't get it, but they called back three weeks later with an offer.