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Equity Incentive Plans (Tables)

12 Months Ended

Dec. 31, 2023

Share-Based Payment Arrangement [Abstract]

Schedule of Stock Option Activity

A summary of our stock option activity and related information during the year ended December 31, 2023 is as follows (in thousands, except per share dollar amounts and years):

									Options Issued and Outstanding												Weighted Average Remaining Contractual Term (in Years)						Aggregate Intrinsic Value
						Number of Shares						Weighted-Average Exercise Price  per Share
Balance at December 31, 2022									13,963						$	4.83
Options granted									8,914						$	3.14
Options exercised									(226)						$	1.61
Options canceled									(483)						$	3.83
Balance at December 31, 2023									22,168						$	4.20					7.3						$	58,606
Vested and expected to vest at December 31, 2023									22,168						$	4.20					7.3						$	58,606
Exercisable at December 31, 2023									12,199						$	5.30					6.1						$	25,116

Schedule of Valuation Assumptions for Stock Options

The estimated grant date fair value of employee stock options was calculated using the Black-Scholes option-pricing model, based on the following weighted-average assumptions:

			Year Ended December 31,
			2023						2022						2021
Expected term (years)			5.1						4.9						5.0
Expected volatility			97.6		%				92.1		%				77.0		%
Risk-free interest rate			3.8		%				2.2		%				4.7		%
Dividend yield			—		%				—		%				—		%

Schedule of Restricted Stock Units Activity

A summary of our RSUs activity and related information for the year ended December 31, 2023 is as follows (in thousands, except per share 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			3,269						$	3.39
Vested			(942)						$	2.76
Forfeited			(87)						$	3.05
Non-vested restricted stock units at December 31, 2023			3,646						$	3.09

Schedule of Valuation Assumptions for Employee Stock Purchase Plan

The following table illustrates the weighted-average assumptions for the Black-Scholes option-pricing model used in determining the fair value of ESPP purchase rights granted to our employees:

			Year Ended December 31,
			2023						2022						2021
Expected term (years)			0.5						0.5						0.5
Expected volatility			86.0		%				97.2		%				123.0		%
Risk-free interest rate			5.3		%				1.9		%				0.7		%
Dividend yield			—		%				—		%				—		%

Schedule of Stock-Based Compensation Recognized

Stock-based compensation expense recognized for stock options, RSUs, and our ESPP are recorded as operating expenses in our statements of operations and comprehensive loss, as follows (in thousands):

			Year Ended December 31,
			2023						2022						2021
Selling, general and administrative			$	9,952					$	7,525					$	7,923
Research and development			3,578						3,225						4,116
Total			$	13,530					$	10,750					$	12,039

Schedule of Total Unrecognized Stock-Based Compensation Expense, Net of Estimated Forfeitures

A summary of our total unrecognized stock-based compensation expense, net of estimated forfeitures, as of December 31, 2023 is as follows (dollars in thousands):

			December 31, 2023
			Unrecognized Compensation Expense						Average Remaining Vesting Period (Years)
Stock option grants			$	19,960					2.75
RSU grants			$	10,579					3.03
ESPP			$	154					0.2

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Tabular disclosure of allocation of amount expensed and capitalized for award under share-based payment arrangement to statement of income or comprehensive income and statement of financial position. Includes, but is not limited to, corresponding line item in financial statement.

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Tabular disclosure of the number and weighted-average grant date fair value for restricted stock units that were outstanding at the beginning and end of the year, and the number of restricted stock units that were granted, vested, or forfeited during the year.

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