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Equity Incentive Plans (Tables)

12 Months Ended

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 - $14.49			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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