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Equity Incentive Plans (Tables) | 12 Months Ended
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Dec. 31, 2023
Equity [Abstract] |
Summary of Stock Option Plan Activity | The following summarizes the stock option plan activity:
|  | Outstanding Options |
|  |  |  |  | Weighted- |
|  |  |  |  | Average |
|  | Number of |  |  | Exercise |
|  | Shares |  |  | Price |
Balance at December 31, 2022 |  |  | 20,749,349 |  |  | $ | 14.61 |
Granted |  |  | 16,210,379 |  |  | $ | 1.69 |
Exercised |  |  | (26,570 | ) |  | $ | 1.32 |
Cancelled |  |  | (12,358,296 | ) |  | $ | 12.72 |
Balance at December 31, 2023 |  |  | 24,574,862 |  |  | $ | 7.06 |
|  | Outstanding RSUs |
|  |  |  |  | Weighted- |
|  |  |  |  | Average |
|  | Number of |  |  | Grant Date |
|  | Shares |  |  | Fair Value |
Balance at December 31, 2022 |  |  | 3,167,397 |  |  | $ | 6.46 |
Granted |  |  | 1,757,506 |  |  | $ | 2.39 |
Released |  |  | (1,627,619 | ) |  | $ | 6.34 |
Forfeited |  |  | (1,892,355 | ) |  | $ | 4.27 |
Balance at December 31, 2023 |  |  | 1,404,929 |  |  | $ | 4.43 |
Schedule of Options Exercisable, Vested or Expected to Vest |
|  | Years Ended December 31, |
|  | 2023 |  |  | 2022 |
|  |  |  |  | Weighted- |  |  |  |  |  | Weighted- |
|  |  |  |  | Average |  |  |  |  |  | Average |
|  |  |  |  | Exercise |  |  |  |  |  | Exercise |
|  | Options |  |  | Price |  |  | Options |  |  | Price |
Exercisable at end of year |  |  | 11,390,275 |  |  | $ | 12.87 |  |  |  | 13,650,210 |  |  | $ | 17.86 |
Options vested or expected to vest |  |  | 24,574,862 |  |  | $ | 7.06 |  |  |  | 20,183,769 |  |  | $ | 14.82 |
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, 2023 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 |
| 6,179,628 |  |  | $0.97–$1.51 |  |  | 9.51 |  |  | $ | 1.25 |  |  |  | 344,006 |  |  | $ | 1.30 |
| 7,660,800 |  |  | $1.52–$2.28 |  |  | 9.28 |  |  |  | 1.77 |  |  |  | 2,001,281 |  |  |  | 1.78 |
| 3,406,724 |  |  | $2.32–$3.48 |  |  | 7.68 |  |  |  | 2.99 |  |  |  | 2,182,510 |  |  |  | 3.05 |
| 83,323 |  |  | $3.61–$5.42 |  |  | 8.61 |  |  |  | 4.08 |  |  |  | 34,239 |  |  |  | 4.09 |
| 21,459 |  |  | $5.50–$8.25 |  |  | 7.65 |  |  |  | 5.84 |  |  |  | 10,059 |  |  |  | 5.81 |
| 1,100,494 |  |  | $8.80–$13.20 |  |  | 3.57 |  |  |  | 11.18 |  |  |  | 996,018 |  |  |  | 11.20 |
| 3,116,010 |  |  | $13.50–$20.25 |  |  | 4.13 |  |  |  | 16.10 |  |  |  | 2,817,050 |  |  |  | 16.16 |
| 2,828,424 |  |  | $20.93–$31.40 |  |  | 4.26 |  |  |  | 25.72 |  |  |  | 2,827,112 |  |  |  | 25.72 |
| 178,000 |  |  | $31.45–$41.18 |  |  | 3.17 |  |  |  | 35.45 |  |  |  | 178,000 |  |  |  | 35.45 |
| 24,574,862 |  |  |  |  |  | 7.58 |  |  |  | 7.06 |  |  |  | 11,390,275 |  |  |  | 12.87 |
Summary of Stock-Based Compensation Expense related to Stock-Based Payment Awards | The following summarizes stock-based compensation expense related to stock-based payment awards pursuant to our equity compensation arrangements (in thousands):
|  | December 31, |
|  | 2023 |  |  | 2022 |
Research and development |  | $ | 10,880 |  |  | $ | 17,909 |
General and administrative |  |  | 12,471 |  |  |  | 11,688 |
Sales and marketing |  |  | 9,503 |  |  |  | 13,383 |
Total stock-based compensation expense |  | $ | 32,854 |  |  | $ | 42,980 |
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, |
|  | 2023 |  |  | 2022 |
Risk-free interest rate |  |  | 3.7 | % |  |  | 3.3 | %
Dividend yield |  |  | — | % |  |  | — | %
Volatility |  |  | 68.1 | % |  |  | 62.0 | %
Expected life (years) |  | 6 to 10 |  |  |  | 6 |
ESPP:
|  | December 31, |
|  | 2023 |  |  | 2022 |
Risk-free interest rate |  |  | 5.3 | % |  |  | 3.2 | %
Dividend yield |  |  | — | % |  |  | — | %
Volatility |  |  | 99.6 | % |  |  | 83.8 | %
Expected life (months) |  |  | 6 |  |  |  | 6 |

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