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Equity Incentive Plans (Tables) | 12 Months Ended
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Dec. 31, 2024
Equity [Abstract] |
Summary of Stock Option Activity | The following table summarizes the stock option activity for the year ended December 31, 2024:
|  | Outstanding Options |
|  |  |  |  | Weighted- |
|  |  |  |  | Average |
|  | Number of |  |  | Exercise |
|  | Shares |  |  | Price |
Balance at December 31, 2023 |  |  | 24,575 |  |  | $ | 7.06 |
Granted |  |  | 8,158 |  |  | $ | 2.20 |
Exercised |  |  | (485 | ) |  | $ | 2.47 |
Cancelled |  |  | (6,166 | ) |  | $ | 12.02 |
Balance at December 31, 2024 |  |  | 26,082 |  |  | $ | 4.46 |
Summary of Restricted Stock Unit Activity | The following table summarizes the RSU activity for the year ended December 31, 2024:
|  | Outstanding RSUs |
|  |  |  |  | Weighted- |
|  |  |  |  | Average |
|  | Number of |  |  | Grant Date |
|  | Shares |  |  | Fair Value |
Balance at December 31, 2023 |  |  | 1,405 |  |  | $ | 4.43 |
Granted |  |  | 2,175 |  |  | $ | 1.65 |
Released |  |  | (1,116 | ) |  | $ | 2.49 |
Forfeited |  |  | (483 | ) |  | $ | 3.69 |
Balance at December 31, 2024 |  |  | 1,981 |  |  | $ | 2.35 |
Schedule of Options Exercisable, Vested or Expected to Vest |
|  | Years Ended December 31, |
|  | 2024 |  |  | 2023 |  |  | 2022 |
|  |  |  |  | Weighted- |  |  |  |  |  | Weighted- |  |  |  |  |  | Weighted- |
|  |  |  |  | Average |  |  |  |  |  | Average |  |  |  |  |  | Average |
|  |  |  |  | Exercise |  |  |  |  |  | Exercise |  |  |  |  |  | Exercise |
|  | Options |  |  | Price |  |  | Options |  |  | Price |  |  | Options |  |  | Price |
Exercisable at end of year |  |  | 9,589 |  |  | $ | 8.88 |  |  |  | 11,390 |  |  | $ | 12.87 |  |  |  | 13,650 |  |  | $ | 17.86 |
Options vested or expected to vest |  |  | 26,082 |  |  | $ | 4.46 |  |  |  | 24,575 |  |  | $ | 7.06 |  |  |  | 20,184 |  |  | $ | 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, 2024 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 |
| 5,241 |  |  | $0.97 - $1.51 |  |  | 8.42 |  |  | $ | 1.24 |  |  |  | 1,457 |  |  | $ | 1.27 |
| 13,321 |  |  | $1.52 - $2.28 |  |  | 8.65 |  |  |  | 1.90 |  |  |  | 2,683 |  |  |  | 1.93 |
| 3,826 |  |  | $2.34 - $3.51 |  |  | 8.03 |  |  |  | 2.87 |  |  |  | 1,862 |  |  |  | 3.00 |
| 87 |  |  | $3.66 - $5.49 |  |  | 8.62 |  |  |  | 3.94 |  |  |  | 35 |  |  |  | 4.14 |
| 20 |  |  | $5.50 - $8.25 |  |  | 7.24 |  |  |  | 5.87 |  |  |  | 13 |  |  |  | 5.86 |
| 535 |  |  | $9.66 - $1 4.49 |  |  | 4.98 |  |  |  | 12.01 |  |  |  | 498 |  |  |  | 12.00 |
| 1,394 |  |  | $14.87 - $22.305 |  |  | 3.92 |  |  |  | 16.37 |  |  |  | 1,390 |  |  |  | 16.37 |
| 1,598 |  |  | $23.00 - $34.50 |  |  | 2.92 |  |  |  | 25.96 |  |  |  | 1,591 |  |  |  | 25.94 |
| 60 |  |  | $38.20 - $57.30 |  |  | 3.65 |  |  |  | 38.38 |  |  |  | 60 |  |  |  | 38.38 |
| 26,082 |  |  |  |  |  | 7.82 |  |  | $ | 4.46 |  |  |  | 9,589 |  |  | $ | 8.88 |
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, |
|  | 2024 |  |  | 2023 |  |  | 2022 |
Research and development |  | $ | 1,856 |  |  | $ | 6,505 |  |  | $ | 10,025 |
General and administrative |  |  | 7,138 |  |  |  | 16,846 |  |  |  | 19,552 |
Sales and marketing |  |  | 3,968 |  |  |  | 9,503 |  |  |  | 13,403 |
Total stock-based compensation expense |  | $ | 12,962 |  |  | $ | 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, |  |  |  |
|  | 2024 |  |  | 2023 |  |  | 2022 |
Risk-free interest rate |  |  | 4.5 | % |  |  | 3.7 | % |  |  | 3.3 | %
Dividend yield |  |  | — | % |  |  | — | % |  |  | — | %
Volatility |  |  | 80.1 | % |  |  | 68.1 | % |  |  | 62.0 | %
Expected life (years) |  |  | 6 |  |  | 6 to 10 |  |  |  | 6 |
ESPP:
|  | December 31, |  |  |  |
|  | 2024 |  |  | 2023 |  |  | 2022 |
Risk-free interest rate |  |  | 4.9 | % |  |  | 5.3 | % |  |  | 3.2 | %
Dividend yield |  |  | — | % |  |  | — | % |  |  | — | %
Volatility |  |  | 95.3 | % |  |  | 99.6 | % |  |  | 83.8 | %
Expected life (months) |  |  | 6 |  |  |  | 6 |  |  |  | 6 |

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