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Stock-based Compensation (Tables)

12 Months Ended

Dec. 31, 2023

Share-Based Payment Arrangement [Abstract]

Schedule of Activity Under Restricted Stock Units

Restricted Stock Units

		Number of Units  (in thousands)				Weighted-Average Grant Date Fair Value per Unit
Balance at December 31, 2022			7,120			$	2.58
RSU granted			3,728			$	2.32
RSU released			(2,970	)		$	2.68
RSU forfeited			(945	)		$	2.17
Balance at December 31, 2023			6,933			$	2.46

Schedule of Activity Under Stock Options

Stock Options

		Number of Options (in thousands)				Weighted-Average Exercise Price per Option				Weighted- Average Remaining Contractual Life (in years)				Aggregate Intrinsic Value (1) (in thousands)
Balance at December 31, 2022			7,882			$	4.43				7.9			$	—
Options granted			2,609			$	2.57
Options exercised			(44	)		$	1.84
Options cancelled			(1,153	)		$	6.84
Balance at December 31, 2023			9,294			$	3.62				8.5			$	439
Vested at December 31, 2023			3,497			$	3.98				8.2			$	78
Unvested awards at December 31, 2023			5,797			$	3.40				8.7			$	361

Aggregate intrinsic value as of December 31, 2023 was calculated as the difference between the closing price per share of the Company’s common stock on the last trading day of December, which was $2.21, and the exercise price of the options, multiplied by the number of in-the-money options.

Schedule of Stock-Based Compensation Determined using Black-Sholes Option-Pricing Model and Weighted Average Assumptions

The weighted average assumptions used to estimate the fair value of options granted were as follows:

		Year Ended December 31,
		2023				2022
Stock options
Weighted average expected volatility			97.1	%			91.8	%
Weighted average expected term		4.7 years				4.3 years
Weighted average risk-free interest rate			3.9	%			2.6	%
Dividend yield			—				—
Weighted-average fair value per share		$	1.49			$	2.21

Schedule of Nonvested Performance-Based Units Activity

Activity under the performance-based awards was as follows:

		Number of Units (in thousands)				Weighted-Average Grant Date Fair Value per Unit
Balance at December 31, 2022			453			$	4.81
PSU granted			309			$	2.42
PSU released			(52	)		$	9.60
Performance adjustment for 2020 awards			(401	)		$	4.19
Balance at December 31, 2023			309			$	2.42

Schedule of Stock-Based Compensation Expense

Stock-based compensation expense is reported in the Company's consolidated statement of operations as follows (in thousands):

		Year Ended December 31,
		2023				2022
Cost of product revenue		$	811			$	592
Research and development expense			1,671				2,481
Selling, general and administrative expense			10,641				11,807
Total stock-based compensation expense		$	13,123			$	14,880

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