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Stock-based Compensation (Tables) | 12 Months Ended
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Dec. 31, 2023
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,
| 2023 |  | 2022 |  | 2021
Research and development | $ | 9,190 |  |  | $ | 10,094 |  |  | $ | 11,337 |
Selling, general and administrative | 9,183 |  |  | 10,344 |  |  | 11,789 |
Total stock-based compensation expense | $ | 18,373 |  |  | $ | 20,438 |  |  | $ | 23,126 |
Schedule of Employee Stock Options Award Valuation Assumptions |
| Year Ended December 31,
| 2023 |  | 2022 |  | 2021
Expected dividend yield | 0% |  | 0% |  | 0%
Expected volatility | 76% -96% |  | 88% - 92% |  | 86% - 87%
Risk-free interest rate | 3.5% - 4.8% |  | 1.4% - 4.0% |  | 0.6% - 1.6%
Expected term | 5.88 years |  | 5.95 years |  | 6.25 years
Schedule of Stock Option Activity | The following table summarizes stock option activity for 2023:
| Shares |  | Weighted-Average Exercise Price |  | Weighted-Average Remaining Contractual Term (Years) |  | Aggregate Intrinsic Value (in thousands)
Outstanding, December 31, 2022 | 10,098,929 |  |  | $ | 18.58 |  |  | 6.5 |  |
Granted | 3,367,777 |  |  | 4.97 |  |  |  |  |
Exercised | (34,608) |  |  | 3.73 |  |  |  |  |
Forfeited | (365,942) |  |  | 9.49 |  |  |  |  |
Expired | (842,519) |  |  | 19.12 |  |  |  |  |
Outstanding, December 31, 2023 | 12,223,637 |  |  | $ | 15.11 |  |  | 6.7 |  | $ | 16,974 |
As of December 31, 2023: |  |  |  |  |  |  |
Exercisable | 7,892,753 |  |  | $ | 18.92 |  |  | 5.6 |  | $ | 4,509 |
Vested and expected to vest | 11,346,207 |  |  | $ | 15.59 |  |  | 6.5 |  | $ | 14,692 |
Schedule of RSU Activity | The following table summarizes RSU activity for 2023:
| Shares |  | Weighted-Average Grant Date Fair Value
Outstanding, December 31, 2022 | 415,084 |  |  | $ | 8.83 |
Granted | 707,635 |  |  | 4.88 |
Vested | (135,396) |  |  | 8.32 |
Forfeited or expired | (81,709) |  |  | 7.17 |
Outstanding, December 31, 2023 | 905,614 |  |  | $ | 5.97 |

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