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Stock-Based Compensation (Tables)
 6 Months Ended
Jun. 30, 2023
Share-Based Payment Arrangement [Abstract]  
Summary of Stock-Based Compensation Expense
The following table summarizes stock-based compensation expense recognized for the three and six months ended June 30, 2023 and 2022 as follows:
Three Months Ended June 30,Six Months Ended June 30,
2023202220232022
Research and development$545 $2,863 $1,751 $5,151 
Sales and marketing2,509 1,561 4,413 4,454 
General and administrative11,590 9,007 19,028 81,705 
Total stock-based compensation expense$14,644 $13,431 $25,192 $91,310 
Summary of Stock Option and RSU Activity Stock option and RSU activity during the six months ended June 30, 2023 is as follows (in thousands, except for share, per share, and contractual term data):
Options OutstandingRestricted Stock Units
Number of
Shares
Available for
Issuance
Under the
Plan		Number of
Shares
Outstanding
Under the
Plan		Weighted-
Average
Exercise
Price		Weighted-
Average
Remaining
Contractual
Term (Years)		Aggregate
Intrinsic
Value		Number of Plan shares outstandingWeighted-Average Grant Date Fair Value per share
Balance at December 31, 20221,422,876 812,293 $263.00 7.27$1,145 2,505,328 $24.60 
Additional shares authorized1,053,433 — — 
Options and restricted stock units granted(488,880)— — 488,880 11.59 
Options exercised and restricted stock units released— (7,953)7.11 (93,442)65.78 
Options and restricted stock units canceled207,713 (7,852)29.91 (199,861)36.04 
Balance at June 30, 20232,195,142 796,488 $267.86 6.78$938 2,700,905 $20.03 
Exercisable at June 30, 2023190,912 5.63 4.63933 
Unvested at June 30, 2023605,564 350.53 7.456