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Equity Incentive Plans (Tables) | 12 Months Ended
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Dec. 31, 2024
Share-Based Payment Arrangement [Abstract] |
Schedule of Fair Value of Stock Option Award Granted | The following assumptions were used to estimate the fair value of stock option awards granted to employees under the Company’s equity incentive plans and the shares purchasable under the ESPP during the periods presented:
| Year Ended December 31,
| 2024 |  | 2023 |  | 2022
Employee Stock Options |  |  |  |  |
Expected term (in years) | 4.6 - 6.1 |  | 1.0 - 7.0 |  | 4.4 - 6.1
Risk-free interest rate | 3.59% - 4.50% |  | 3.36% - 4.73% |  | 1.31% - 4.35%
Volatility | 100.72% - 104.51% |  | 70.01% - 170.69% |  | 71.10% - 89.87%
Dividend yield | — |  | — |  | —
Employee Stock Purchase Plan |  |  |  |  |
Expected term (in years) | 0.5 - 2.0 |  | 0.5 - 2.0 |  | 0.5 - 2.0
Risk-free interest rate | 3.88% -5.27% |  | 4.87% - 5.47% |  | 0.60% - 3.51%
Volatility | 83.96% - 151.54% |  | 115.19% - 216.45% |  | 64.98% - 121.43%
Dividend yield | — |  | — |  | —
Schedule of Stock Option Activity | The following table summarizes stock option activity for the years ended December 31, 2024, 2023 and 2022:
| Shares Subject to Options Outstanding |  | Weighted- Average Remaining Contractual Life (Years) |  | Aggregate Intrinsic Value
| Shares |  | Weighted- Average Exercise Price |  |
|  |  |  |  |  |  | (in thousands)
Outstanding as of December 31, 2021 | 9,434,660 |  |  | $ | 12.24 |  |  | 7.4 |  | $ | 15,822 |
Options granted | 9,271,272 |  |  | $ | 6.75 |  |  |  |  |
Options exercised | (270,707) |  |  | $ | 6.41 |  |  |  |  |
Options forfeited/cancelled | (948,060) |  |  | $ | 15.69 |  |  |  |  |
Outstanding as of December 31, 2022 | 17,487,165 |  |  | $ | 9.24 |  |  | 8.1 |  | $ | 47 |
Options granted | 17,159,617 |  |  | $ | 1.16 |  |  |  |  |
Options exercised | — |  |  | $ | — |  |  |  |  |
Options forfeited/cancelled | (11,020,667) |  |  | $ | 11.07 |  |  |  |  |
Outstanding as of December 31, 2023 | 23,626,115 |  |  | $ | 2.52 |  |  | 7.9 |  | $ | 369 |
Options granted | 13,006,228 |  |  | $ | 0.96 |  |  |  |  |
Options exercised | — |  |  | $ | — |  |  |  |  |
Options forfeited/cancelled | (2,216,006) |  |  | $ | 2.25 |  |  |  |  |
Outstanding as of December 31, 2024 | 34,416,337 |  |  | $ | 1.95 |  |  | 7.5 |  | $ | 598 |
Options vested and expected to vest as of December 31, 2024 | 34,416,337 |  |  | $ | 1.95 |  |  | 7.5 |  | $ | 598 |
Options exercisable as of December 31, 2024 | 14,126,062 |  |  | $ | 3.20 |  |  | 6.1 |  | $ | 100 |
Schedule of Restricted Stock Activity | The summary of the Company’s restricted stock activity during the years ended December 31, 2024, 2023 and 2022 is as follows:
| Number of Restricted Stock Units Outstanding |  | Weighted- Average Grant Date Fair Value
Nonvested at December 31, 2021 | 2,561,219 |  |  | $ | 8.67 |
Granted | 572,901 |  |  | 11.94 |
Vested | (1,592,588) |  |  | 7.78 |
Forfeited / cancelled | (191,497) |  |  | 10.68 |
Nonvested at December 31, 2022 | 1,350,035 |  |  | $ | 10.83 |
Granted | — |  |  | — |
Vested | (779,900) |  |  | 10.67 |
Forfeited / cancelled | (142,437) |  |  | 11.39 |
Nonvested at December 31, 2023 | 427,698 |  |  | $ | 10.92 |
Granted | — |  |  | — |
Vested | (427,698) |  |  | 10.92 |
Forfeited / cancelled | — |  |  | — |
Nonvested at December 31, 2024 | — |  |  | $ | — |
Schedule of Stock-Based Compensation Expense Reported in Condensed Consolidated Statements of Operations | Stock-based compensation expense has been reported in the Company’s consolidated statements of operations and comprehensive loss as follows (in thousands):
| Year Ended December 31,
| 2024 |  | 2023 |  | 2022
Research and development | $ | 10,172 |  |  | $ | 15,871 |  |  | $ | 24,415 |
General and administrative | 10,447 |  |  | 12,647 |  |  | 18,138 |
Total stock-based compensation expense | $ | 20,619 |  |  | $ | 28,518 |  |  | $ | 42,553 |

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