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Equity Incentive Plans (Tables) | 6 Months Ended
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Jun. 30, 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 June 30, |  | Six Months Ended June 30,
| 2023 |  | 2022 |  | 2023 |  | 2022
Selling, general and administrative | $ | 2,303 |  |  | $ | 2,220 |  |  | $ | 4,391 |  |  | $ | 4,728 |
Research and development | 896 |  |  | 973 |  |  | 1,720 |  |  | 2,096 |
Total | $ | 3,199 |  |  | $ | 3,193 |  |  | $ | 6,111 |  |  | $ | 6,824 |
Summary of Total Unrecognized Stock-Based Compensation Expense, Net of Estimated Forfeitures | As of June 30, 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 | $ | 21,167 |  |  | 3.0
RSU grants | $ | 7,776 |  |  | 3.1
ESPP | $ | 118 |  |  | 0.2
Schedule of Stock Option Activity | A summary of our stock option activity and related information for the six months ended June 30, 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 | 7,331 |  |  | $ | 2.92 |
Options exercised | (99) |  |  | $ | 2.12 |
Options forfeited or canceled | (121) |  |  | $ | 4.87 |
Balance at June 30, 2023 | 21,074 |  |  | $ | 4.18 |
Exercisable at June 30, 2023 | 10,269 |  |  | $ | 5.63 |
Schedule of Restricted Stock Units Activity | A summary of our RSUs activity and related information for the six months ended June 30, 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 | 2,203 |  |  | $ | 2.98 |
Vested | (509) |  |  | $ | 2.86 |
Forfeited | (35) |  |  | $ | 3.88 |
Non-vested restricted stock units at June 30, 2023 | 3,065 |  |  | $ | 2.62 |

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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 -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + 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 -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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