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Stock-Based Compensation (Tables) | 3 Months Ended
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Mar. 31, 2024
Schedule of stock-based compensation expense recognized for employees and non-employees | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Three Months Ended | ​
​ | ​ | March 31, | ​
By Expense Category: |  | 2024 |  | 2023 | ​
Cost of revenue | ​ | $ | 64 | ​ | $ | — | ​
Research and development | ​ | ​ | 1,011 | ​ | ​ | 581 | ​
General and administrative | ​ |  | 3,449 | ​ |  | 1,971 | ​
Total stock-based compensation expense | ​ | $ | 4,524 | ​ | $ | 2,552 | ​
​
Schedule of unamortized compensation expense and weighted average remaining recognition period | ​
​ | ​ | ​ | ​ | ​ | ​
​ | ​ | As of March 31, 2024
​ | ​ | ​ | ​ | ​ | Weighted
​ | ​ | ​ | ​ | ​ | Average
​ | ​ | ​ | ​ | ​ | Remaining
​ | ​ | ​ | ​ | ​ | Recognition
​ |  | Unamortized |  | Period
​ | ​ | Expense | ​ | (Years)
Stock options | ​ | $ | 13,698 |  | 2.0
Restricted and performance stock units | ​ | $ | 29,115 | ​ | 3.0
Schedule of assumptions used for estimating the fair value of stock options | ​
​ | ​ | ​ | ​ | ​
​ | ​ | Three Months Ended
​ | ​ | March 31,
​ |  | 2024 |  | 2023
Expected dividend yield | ​ | — | ​ | —
Risk-free interest rate |  | 3.98% |  | 3.46% - 3.64%
Expected volatility |  | 90% |  | 94% - 95%
Expected life (years) |  | 6.1 |  | 5.9 - 6.1
Schedule of stock option activity | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ |  | ​ |  | ​ | ​ |  | Weighted |  | ​ | ​
​ | ​ | ​ | ​ | Weighted | ​ | Average | ​ | ​ | ​
​ | ​ | ​ | ​ | Average | ​ | Contractual | ​ | Aggregate
​ | ​ | Number of | ​ | Exercise | ​ | Term | ​ | Intrinsic
​ | ​ | Shares | ​ | Price | ​ | (in years) | ​ | Value
Outstanding as of December 31, 2023 |  | 9,573,937 | ​ | $ | 4.80 |  |  |  | ​ |
Granted |  | 7,500 | ​ | ​ | 12.86 |  |  |  | ​ |
Exercised |  | (23,247) | ​ | ​ | 4.27 |  |  |  | ​ |
Cancelled |  | (3,000) | ​ | ​ | 6.37 |  |  |  | ​ |
Outstanding as of March 31, 2024 |  | 9,555,190 | ​ | $ | 4.81 |  | 7.5 | ​ | $ | 95,040
Exercisable as of March 31, 2024 |  | 6,123,944 | ​ | $ | 4.47 |  | 7.2 | ​ | $ | 62,992
Vested and expected to vest as of March 31, 2024 |  | 9,069,464 | ​ | $ | 4.76 |  | 7.5 | ​ | $ | 90,617
Schedule of unvested RSU awards outstanding | ​
​ | ​ | ​ | ​ | ​ | ​
​ |  |  |  | Weighted
​ | ​ | ​ | ​ | Average
​ | ​ | ​ | ​ | Grant-Date
​ | ​ | Number of | ​ | Fair Value
​ | ​ | RSUs | ​ | (per RSU)
Unvested as of December 31, 2023 |  | 1,657,978 | ​ | $ | 6.41
Granted |  | 1,857,325 | ​ |  | 12.54
Vested |  | (383,133) | ​ |  | 6.42
Forfeited |  | (2,277) | ​ |  | 12.50
Unvested as of March 31, 2024 |  | 3,129,893 | ​ | $ | 10.04
Employee Stock Purchase Plan |
Schedule of assumptions used for estimating the fair value of stock options | ​
​ | ​ | ​ | ​ | ​
​ | ​ | Three Months Ended
​ | ​ | March 31,
​ |  | 2024 |  | 2023
Expected dividend yield | ​ | — | ​ | —
Risk-free interest rate | ​ | 5.27% | ​ | 5.20%
Expected volatility | ​ | 90% | ​ | 64%
Expected life (years) | ​ | 0.50 | ​ | 0.50

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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (d) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (e) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 718 -SubTopic 10 -Subparagraph (f)(2) -Name Accounting Standards Codification -Paragraph 2 -Section 50 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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