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Equity Incentive Plans (Tables)

12 Months Ended

Dec. 31, 2022

Equity [Abstract]

Summary of Stock Option Plan Activity

The following table summarizes the stock option plan activity:

		Outstanding Options
						Weighted-
						Average
		Number of				Exercise
		Shares				Price
Balance at December 31, 2021			18,943,937			$	18.71
Granted			5,296,547			$	3.11
Exercised			—			$	-
Cancelled			(3,491,135	)		$	19.40
Balance at December 31, 2022			20,749,349			$	14.61
		Outstanding RSUs
						Weighted-
						Average
		Number of				Grant Date
		Shares				Fair Value
Balance at December 31, 2021			2,803,193			$	11.51
Granted			1,831,508			$	2.73
Released			(899,966	)		$	11.45
Forfeited			(567,338	)		$	11.47
Balance at December 31, 2022			3,167,397			$	6.46

Schedule of Options Exercisable, Vested or Expected to Vest

		Years Ended December 31,
		2022								2021
						Weighted-								Weighted-
						Average								Average
						Exercise								Exercise
		Options				Price				Options				Price
Exercisable at end of year			13,650,210			$	17.86				12,243,887			$	19.13
Options vested or expected to    vest			20,183,769			$	14.82				18,416,243			$	18.77

Schedule of Exercise Prices and Weighted-average Remaining Contractual Lives for Options Outstanding

Exercise prices and weighted-average remaining contractual lives for the options outstanding as of December 31, 2022 were:

																		Weighted-
						Weighted-												Average
						Average				Weighted-								Exercise
						Remaining				Average								Price of
Outstanding				Range of		Contractual				Exercise				Options				Options
Options				Exercise Prices		Life (in years)				Price				Exercisable				Exercisable
	1,440,440			$2.49–$2.74			9.88			$	2.70				2,369			$	2.74
	3,483,035			$2.88–$3.17			9.32				3.17				764,820				3.17
	3,758,189			$3.30–$13.00			4.43				9.84				2,922,363				9.94
	3,484,856			$13.05–$15.72			6.83				15.33				2,166,837				15.20
	3,346,234			$15.75–$23.90			4.72				17.93				3,154,236				17.91
	5,236,595			$24.40–$39.00			5.85				26.32				4,639,585				26.49
	20,749,349						6.44				14.61				13,650,210				17.86

Summary of Stock-Based Compensation Expense related to Stock-Based Payment Awards

The following table summarizes stock-based compensation expense related to stock-based payment awards pursuant to our equity compensation arrangements (in thousands):

		December 31,
		2022				2021
Research and development		$	17,909			$	19,482
General and administrative			11,688				11,816
Sales and marketing			13,383				15,553
Total stock-based compensation expense		$	42,980			$	46,851

Summary of Fair Value of Option Grant and ESPP Purchase Right on Grant Date Using Black-Scholes Option Pricing Model

We estimated the fair value of each option grant and ESPP purchase right on the date of grant using the Black-Scholes option pricing model with the following weighted-average assumptions:

Options:

		December 31,
		2022				2021
Risk-free interest rate			3.3	%			1.1	%
Dividend yield			—	%			—	%
Volatility			62.0	%			62.6	%
Expected life (years)			6				6

ESPP:

		December 31,
		2022				2021
Risk-free interest rate			3.2	%			0.1	%
Dividend yield			—	%			—	%
Volatility			83.8	%			46.9	%
Expected life (months)			6				6

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