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Equity Incentive Plans (Tables) | 3 Months Ended
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Mar. 31, 2023
Share-Based Payment Arrangement [Abstract] |
Summary of Stock-Based Compensation Expense Recognized | Stock-based compensation expense recognized for stock options, restricted stock units ("RSUs"), and our employee stock purchase program (the "ESPP") are recorded as operating expenses in our condensed statements of operations and comprehensive loss, as follows (in thousands):
| Three Months Ended March 31, |  |
| 2023 |  | 2022 |  |  |  |
Selling, general and administrative | $ | 2,088 |  |  | $ | 2,508 |  |  |  |  |
Research and development | 824 |  |  | 1,214 |  |  |  |  |
Total | $ | 2,912 |  |  | $ | 3,722 |  |  |  |  |
Summary of Total Unrecognized Stock-Based Compensation Expense, Net of Estimated Forfeitures | As of March 31, 2023, our total unrecognized stock-based compensation expense, net of estimated forfeitures, and average remaining vesting period, included the following (dollars in thousands):
| Unrecognized Compensation Expense |  | Average Remaining Vesting Period (Years)
Stock option grants | $ | 21,127 |  |  | 3.2
RSU grants | $ | 7,309 |  |  | 3.3
ESPP | $ | 292 |  |  | 0.3
Schedule of Stock Option Activity | A summary of our stock option activity and related information for the three months ended March 31, 2023 is as follows (in thousands, except dollar amounts):
| Number of Shares |  | Weighted-Average Exercise Price per Share
Balance at December 31, 2022 | 13,963 |  |  | $ | 4.83 |
Options granted | 6,472 |  |  | $ | 2.78 |
Options exercised | (36) |  |  | $ | 1.65 |
Options forfeited or canceled | (56) |  |  | $ | 5.84 |
Balance at March 31, 2023 | 20,343 |  |  | $ | 4.18 |
Exercisable at March 31, 2023 | 9,185 |  |  | $ | 5.97 |
Schedule of Restricted Stock Units Activity | A summary of our RSUs activity and related information for the three months ended March 31, 2023 is as follows (in thousands, except dollar amounts):
| Number of RSUs |  | Weighted-Average Grant Date Fair Value Per Share
Non-vested restricted stock units at December 31, 2022 | 1,406 |  |  | $ | 2.17 |
Granted | 1,784 |  |  | $ | 2.78 |
Vested | (208) |  |  | $ | 2.68 |
Forfeited | — |  |  | $ | — |
Non-vested restricted stock units at March 31, 2023 | 2,982 |  |  | $ | 2.50 |

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- Definition Tabular disclosure of the changes in outstanding nonvested restricted stock units. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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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 -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of cost not yet recognized and weighted-average period over which cost is expected to be recognized for nonvested award under share-based payment arrangement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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