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Stock-based Compensation (Tables) | 12 Months Ended
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Dec. 31, 2022
Share-Based Payment Arrangement [Abstract] |
Schedule of Stock-Based Compensation Expense | The following stock-based compensation amounts were recognized for the periods indicated (in thousands):
| Year Ended December 31,
| 2022 |  | 2021 |  | 2020
Research and development | $ | 10,094 |  |  | $ | 11,337 |  |  | $ | 10,833 |
Selling, general and administrative | 10,343 |  |  | 11,789 |  |  | 9,843 |
Total stock-based compensation expense | $ | 20,437 |  |  | $ | 23,126 |  |  | $ | 20,676 |
Schedule of Employee Stock Options Award Valuation Assumptions |
| Year Ended December 31,
| 2022 |  | 2021 |  | 2020
Expected dividend yield | 0% |  | 0% |  | 0%
Expected volatility | 88% -92% |  | 86% - 87% |  | 67% - 109%
Risk-free interest rate | 1.4% - 4.0% |  | 0.6% - 1.6% |  | 0.4% - 1.8%
Expected term | 5.95 years |  | 6.25 years |  | 6.25 years
Schedule of Stock Option Activity | The following table summarizes stock option activity for 2022:
| Shares |  | Weighted-Average Exercise Price |  | Weighted-Average Remaining Contractual Term (Years) |  | Aggregate Intrinsic Value (in thousands)
Outstanding, December 31, 2021 | 8,373,921 |  |  | $ | 21.47 |  |  | 6.6 |  |
Granted | 2,794,997 |  |  | 9.32 |  |  |  |  |
Exercised | (120,900) |  |  | 1.43 |  |  |  |  |
Forfeited | (509,569) |  |  | 15.82 |  |  |  |  |
Expired | (439,520) |  |  | 22.77 |  |  |  |  |
Outstanding, December 31, 2022 | 10,098,929 |  |  | $ | 18.58 |  |  | 6.5 |  | $ | 1,094 |
As of December 31, 2022: |  |  |  |  |  |  |
Exercisable | 6,694,068 |  |  | $ | 21.35 |  |  | 5.5 |  | $ | 424 |
Vested and expected to vest | 9,456,075 |  |  | $ | 18.91 |  |  | 6.4 |  | $ | 1,009 |
Share-Based Payment Arrangement, Option, Exercise Price Range | The stock options outstanding and exercisable by exercise price at December 31, 2022 are as follows:
|  | Stock Options Outstanding |  | Stock Options Exercisable
Range of Exercise Prices |  | Number of Shares |  | Weighted-Average Remaining Contractual Life in Years |  | Weighted-Average Exercise Price Per Share |  | Number of Shares |  | Weighted-Average Exercise Price Per Share
$0.94 - $5.00 |  | 357,628 |  |  | 8.8 |  | $ | 3.70 |  |  | 143,268 |  |  | $ | 3.76 |
$5.01 - $15.00 |  | 3,355,424 |  |  | 8.4 |  | 10.51 |  |  | 1,211,129 |  |  | 10.96 |
$15.01 - $25.00 |  | 4,041,994 |  |  | 6.1 |  | 20.21 |  |  | 3,152,550 |  |  | 20.39 |
$25.01 - $40.21 |  | 2,343,883 |  |  | 4.3 |  | 29.59 |  |  | 2,187,121 |  |  | 29.64 |
|  | 10,098,929 |  |  | 6.5 |  | $ | 18.58 |  |  | 6,694,068 |  |  | $ | 21.35 |
Schedule of RSU Activity | The following table summarizes RSU activity for 2022:
| Shares |  | Weighted-Average Grant Date Fair Value
Outstanding, December 31, 2021 | 21,500 |  |  | $ | 25.97 |
Granted | 476,772 |  |  | 8.42 |
Vested | (10,445) |  |  | 25.65 |
Forfeited or expired | (72,743) |  |  | 8.74 |
Outstanding, December 31, 2022 | 415,084 |  |  | $ | 8.83 |

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- Definition 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. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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