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Stock Plans (Tables)

12 Months Ended

Dec. 31, 2024

Share-Based Payment Arrangement [Abstract]

Schedule of Available for Grant

A summary of shares available for grant under the 2021 Plan is as follows:

			Shares Available for Grant
Shares available for grant as of January 1, 2023			1,443,946
Authorized			1,252,287
Granted/Awarded			(2,758,399)
Canceled			1,322,669
Withheld for taxes			53,999
Shares available for grant as of December 31, 2023			1,314,502
Authorized			1,391,173
Granted/Awarded			(1,157,793)
Canceled			587,813
Withheld for taxes			65,317
Shares available for grant as of December 31, 2024			2,201,012

Schedule of Stock Option Activity

A summary of stock option activity for the years ended December 31, 2024 and 2023 is set forth below:

			Options Outstanding
			Number of Shares						Weighted-Average Exercise Price						Weighted Average Remaining Contractual Term (in Years)
Balances as of January 1, 2023			3,446,583						$	3.61					8.06
Granted			695,225						$	3.85
Exercised			(889,968)						$	0.17
Canceled			(663,075)						$	5.00
Balances as of December 31, 2023			2,588,765						$	4.51					7.17
Granted			510,654						$	12.04
Exercised			(556,718)						$	1.45
Canceled			(174,493)						$	15.89
Balances as of December 31, 2024			2,368,208						$	6.01					7.27
Vested and exercisable at December 31, 2024			1,568,345						$	4.51					6.49
Vested and expected to vest at December 31, 2024			2,368,208						$	6.01					7.27

Schedule of Employee Stock Purchase Plan

Compensation expense is calculated using the fair value of the employees' purchase rights under the Black-Scholes model, which was estimated using the following assumptions:

			Year Ended December 31,
			2024						2023
Expected term (in years)			0.5						0.5
Expected volatility			76% - 78%						63% - 90%
Weighted average risk-free interest rate			4.34% - 5.40%						5.36% - 5.43%
Fair value of common stock			$6.47 - $10.95						$4.20 - $8.49
Dividend yield			—%						—%

Schedule of Restricted Stock Units

Activity with respect to restricted stock units, or RSUs, was as follows:

			Number of Shares Underlying Outstanding Restricted Stock Units						Weighted Average Grant Date Fair Value
Unvested, January 1, 2023			1,756,209						$	10.15
Granted			2,063,174						$	4.77
Vested			(728,986)						$	9.76
Canceled			(659,594)						$	7.14
Unvested, December 31, 2023			2,430,803						$	6.52
Granted			647,139						$	13.00
Vested			(1,184,284)						$	6.65
Canceled			(413,320)						$	7.68
Unvested, December 31, 2024			1,480,338						$	8.92

Schedule of Share-based Payment Arrangement, Expensed and Capitalized, Amount

The Company recognized stock-based compensation as follows (in thousands):

			Year Ended December 31,
			2024						2023
Cost of goods sold			$	723					$	606
Research and development			3,270						2,749
Selling, general and administrative			6,289						6,203
Total stock-based compensation			$	10,282					$	9,558

The above stock-based compensation expense related to the following equity-based awards (in thousands):

			Year Ended December 31,
			2024						2023
Stock options and restricted stock units			$	9,745					$	9,271
ESPP			537						287
Total stock-based compensation			$	10,282					$	9,558

Schedule of Employee Stock Options, Valuation Assumptions

The fair value of employee stock options was estimated using the following assumptions for the years ended December 31, 2024 and December 31, 2023:

			Year Ended December 31,
			2024						2023
Expected term (in years)			5.27 - 6.25						5.27 - 6.25
Expected volatility			71% - 78%						60% - 63%
Weighted average risk-free interest rate			3.62% - 4.64%						3.74% - 3.94%
Fair value of common stock			$6.00 - $17.11						$1.54 - $4.50
Dividend yield			—%						—%

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