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Equity Incentive Plans (Tables)
 6 Months Ended
Jun. 30, 2025
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 six months ended June 30, 2025 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, 2025
6,086,289 $25.20 7.63$534 
Granted1,745,653 $14.83 
Exercised(66,971)$11.07 
Forfeitures and cancellations(161,843)$18.89 
Outstanding at June 30, 20257,603,128 $23.08 7.67$19,650 
Exercisable at June 30, 20253,793,325 $27.11 6.52$5,200 
Schedule of Time-based Restricted Stock Units Activity
Number of Restricted Stock UnitsWeighted-Average Grant Date Fair Value
Weighted-Average
Remaining
Contractual
Term
(in years)
Aggregate
Intrinsic
Value (in
thousands)
Outstanding at January 1, 20251,227,677 $21.79 1.46$16,254 
Granted610,428 $14.83 
Released(323,714)$21.92 
Forfeitures and cancellations(62,090)$18.85 
Outstanding at June 30, 20251,452,301 $18.96 1.64$32,241 
RSU expected to vest at June 30, 20251,452,301 $18.96 1.64$32,241 
Schedule of Grant Date Fair Value Assumptions The grant date fair value is estimated using a Monte Carlo simulation using the following assumptions:
Six months ended June 30,
2025
Volatility of common stock59.0 %
Risk-free interest rate4.1 %
Contract term (in years)3.9
Schedule of Performance Shares, Outstanding Activity
The following table presents a summary of activity with respect to our PSUs:
Number of Performance Stock UnitsWeighted-Average Grant Date Fair ValueWeighted-Average Remaining Contractual Term (in years)
Outstanding at January 1, 2025504,500 $24.69 3.52
Granted— $— 
Released— $— 
Forfeitures(6,500)$24.69 
Outstanding at June 30, 2025498,000 $24.69 3.03
Schedule of Weighted Average Assumptions used to Estimate Fair Value 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:
Six Months Ended
June 30,
20252024
Risk-free interest rate4.5 %4.0 %
Expected volatility81.8 %78.3 %
Expected dividend yield— %— %
Expected term (in years)6.356.28
Weighted-average grant date fair value per share$10.95$15.28
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:
Three Months Ended
June 30,		Six Months Ended
June 30,
(in thousands)2025202420252024
Research and development$4,456 $3,534 $8,863 $6,988 
General and administrative4,783 4,010 9,546 10,687 
(1)
Total$9,239 $7,544 $18,409 $17,675 
(1)    Includes $2.6 million related to two year RSU initially issued to our Chief Executive Officer in March 2022 and now fully recognized.