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Equity Incentive Plans (Tables)

12 Months Ended

Dec. 31, 2023

Share-Based Payment Arrangement [Abstract]

Schedule of Activity Related to Stock Option Awards

A summary of the activity related to stock option awards during the year ended December 31, 2023 is as follows:

			Shares Subject to Options						Weighted-Average Exercise Price per Share						Weighted-Average Remaining Contractual Term (in years)						Aggregate Intrinsic Value (in thousands)
Outstanding at January 1, 2023			3,673,208						$	32.04					6.28						$	18,686
Granted			1,579,331						$	22.02
Exercises			(90,883)						$	18.95
Forfeitures and cancellations			(936,041)						$	37.52
Outstanding at December 31, 2023			4,225,615						$	27.36					7.42						$	5,827
Exercisable at December 31, 2023			2,154,408						$	30.60					6.10						$	4,741

Schedule of Time-based Restricted Stock Units Activity

			Number of Restricted Stock Units						Weighted-Average Grant Date Fair Value						Weighted-Average Remaining Contractual Term (in years)						Aggregate Intrinsic Value (in thousands)
Outstanding at January 1, 2023			1,028,843						$	26.14					1.17						$	31,884
Granted			568,574						$	22.02
Released			(68,900)						$	23.89
Forfeitures and cancellations			(46,945)						$	21.87
Outstanding at December 31, 2023			1,481,572						$	24.80					0.73						$	31,735
RSU expected to vest at December 31, 2023			1,481,572						$	24.80					0.73						$	31,735

Schedule of Weighted Average Assumptions in Stock Option Valuations

The

estimated fair values of stock option awards granted were determined on the date of grant using the Black-Scholes option valuation model with the following weighted-average assumptions:

						Year Ended December 31,
						2023						2022						2021
Risk-free interest rate						3.8		%				2.5		%				0.7		%
Expected volatility						85.7		%				87.4		%				92.9		%
Expected dividend yield						—		%				—		%				—		%
Expected term (in years)						5.82						6.09						6.18
Weighted average grant date fair value per share			$			16.06			$			21.58			$			22.34

Schedule of Non-cash Stock-based Compensation Expense

Total non-cash stock-based compensation expense for all stock awards that was recognized in the consolidated statements of operations and comprehensive loss is as follows:

									Year Ended December 31,
(in thousands)															2023						2022						2021
Research and development															$	10,159					$	6,775					$	5,856
General and administrative															23,046						20,581						9,491
Total															$	33,205					$	27,356					$	15,347

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Tabular disclosure of cost recognized for award under share-based payment arrangement by plan. Includes, but is not limited to, related tax benefit.

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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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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.

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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.

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