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Equity Incentive Plan (Tables)

6 Months Ended

Jun. 30, 2025

Equity [Abstract]

Summary of Stock Option Activity

The following table summarizes the stock option activity for the six months ended June 30, 2025:

		Shares (in thousands)				Weighted- Average Exercise Price				Weighted- Average Remaining Contractual Term (Years)
Outstanding at December 31, 2024			26,082			$	4.46				7.80
Granted			6,061			$	1.85
Exercised			(278	)		$	1.47
Expired and forfeited			(2,168	)		$	10.31
Outstanding at June 30, 2025			29,697			$	3.53				7.90

Summary of Fair Value of Option Grant on Grant Date and Employee Stock Purchase Plan Using Black-Scholes Option Pricing Model and Market Based Stock Option Grants Monte Carlo Simulation Model

We estimated the fair value of each option grant on the grant date using the Black-Scholes option pricing model and for market-based stock option grants using the Monte Carlo simulation model. The following are the weighted-average assumptions:

		For the Six Months Ended
		June 30,
		2025				2024
Risk-free interest rate			4.3	%			4.2	%
Dividend yield			0.0	%			0.0	%
Volatility			80.1	%			74.9	%
Expected life (years)		6 to 10				6 to 10

Summary of Restricted Stock Unit Activity

The following table summarizes the restricted stock unit activity ("RSUs") for the six months ended June 30, 2025:

		Shares (in thousands)				Weighted-Average Grant Date Fair Value
Outstanding at December 31, 2024			1,981			$	2.35
Granted			2,807			$	1.84
Released			(458	)		$	2.06
Expired and forfeited			(197	)		$	2.58
Outstanding at June 30, 2025			4,133			$	1.97

The fair value of RSUs is estimated based on the closing market price of our common stock on the date of the grant. RSUs generally vest quarterly over a four-year period.

We estimated the fair value of each purchase right granted under our 1997 Employee Stock Purchase Plan, as amended, at the beginning of each new offering period using the Black-Scholes option pricing model. The following are the weighted average assumptions:

		For the Six Months Ended
		June 30,
		2025				2024
Risk-free interest rate			4.2	%			5.4	%
Dividend yield			0.0	%			0.0	%
Volatility			79.1	%			83.6	%
Expected life (months)			6				6

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

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

		Three Months Ended June 30,								Six Months Ended June 30,
		2025				2024				2025				2024
Research and development		$	276			$	553			$	521			$	1,254
General and administrative			1,825				2,060				3,396				3,938
Sales and marketing			696				1,957				1,391				2,753
Total stock-based compensation expense		$	2,797			$	4,570			$	5,308			$	7,945

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Tabular disclosure of allocation of amount expensed and capitalized for award under share-based payment arrangement to statement of income or comprehensive income and statement of financial position. Includes, but is not limited to, corresponding line item in financial statement.

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Tabular disclosure of the number and weighted-average grant date fair value for restricted stock units that were outstanding at the beginning and end of the year, and the number of restricted stock units that were granted, vested, or forfeited during the year.

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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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Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions.

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