Is it appropriate to ask for RSUs for in-house paralegal job offer?

I've received a job offer to help build an in-house legal department for a medtech company with explosive growth. I am the first hire, reporting to two attorneys. The company is gearing up to go public. They're offering exactly the salary I asked for, no negotiation (which makes me think I should have asked for more, lol).

I have very little corporate experience, but I was reading about IPOs and RSUs. Are RSUs only for high-level employees? Would I be completely out of pocket to ask that they be included in my compensation?