A recent burst of successful technology IPOs has led some richly valued companies that were content to dwell in the private markets to take steps toward going public.

The solid debuts of firms such as Spotify Technology SA, Dropbox Inc. and Zscaler Inc. have helped catalyze a shift among private-company CEOs and senior executives toward viewing public markets as a hospitable place to raise capital, said bankers, lawyers and investors in interviews. That comes after years of relatively weak issuance, particularly among tech...