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Equity Incentive Plans (Tables)

12 Months Ended

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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Tabular disclosure of option exercise prices, by grouped ranges, including the upper and lower limits of the price range, the number of shares under option, weighted average exercise price and remaining contractual option terms.

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Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value.

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