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Stockholders' Equity (Tables)
 12 Months Ended
Dec. 31, 2022
Equity [Abstract]  
Schedule of Shares Reserved for Future Issuance
The Company has reserved shares of common stock for future issuances as follows:
December 31,
20222021
Common stock options issued and outstanding
2,495,528 2,145,131 
Common stock restricted stock units issued and outstanding
998,473 442,428 
Common stock available for future grants
3,765,706 3,751,115 
Common stock available for ESPP1,212,109 932,458 
Total8,471,816 7,271,132 
Schedule of Summary of Stock Option Activity
Activity under the Stock Plans is set forth below:
Outstanding Options
Number of SharesWeighted Average Exercise Price
Balance, December 31, 20202,923,403 $4.72 
Options granted
421,200 43.79 
Options exercised
(1,065,567)1.77 
Options canceled
(133,905)11.44 
Balance, December 31, 20212,145,131 $13.44 
Options granted
765,900 24.09 
Options exercised
(297,463)2.13 
Options canceled
(118,040)28.30 
Balance, December 31, 20222,495,528 $17.35 
Schedule of Options Vested and Expected to Vest
December 31, 2022
Number of Shares
Weighted Average Exercise Price
Weighted Average Contractual Life (in Years)
Options vested1,107,541$13.67 7.12
Options vested and expected to vest2,495,528$17.35 7.86
Schedule of Activity with Respect to Restricted Stock Units
Activity with respect to restricted stock units was as follows:
Number of Shares Underlying Outstanding Restricted StockWeighted Average Grant Date Fair Value
Unvested, January 1, 2021— $— 
Granted503,110 42.49 
Vested
(40,908)43.40 
Canceled
(19,774)43.60 
Unvested, December 31, 2021442,428 42.36 
Granted937,400 23.63 
Vested
(251,133)35.09 
Canceled
(130,222)33.85 
Unvested, December 31, 2022998,473 $27.72 
Schedule of Stock Options Valuation Assumptions The estimated grant date fair values of employee stock options were calculated using the following assumptions:
Years Ended December 31,
20222021
Weighted average expected term (in years)
6.0 - 6.1
5.0 - 6.3
Volatility
44.5% - 44.8%
44.0% - 44.5%
Risk-free interest rate
1.6% - 3.6%
0.6% - 1.0%
Dividend yield——
Schedule of Compensation Expense Valuation Assumptions
Compensation expense is calculated using the fair value of the employees' purchase rights under the Black-Scholes model.
Years Ended December 31,
20222021
Weighted average expected term (in years)0.50.5
Volatility
37.8% - 42.8%
36.1% - 42%
Risk-free interest rate
0.7% - 3.1%
0.1%
Dividend yield——
Schedule of Total Stock-Based Compensation
Stock-based compensation expense is reflected in the statements of operations and comprehensive loss as follows (in thousands):
Years Ended December 31,
20222021
Cost of goods sold$686 

$587 
Research and development2,190 

1,278 
Selling, general and administrative13,569 8,665 
Total$16,445 $10,530 
The above stock-based compensation expense related to the following equity-based awards:
Years Ended December 31,
20222021
Stock options and restricted stock units$15,807 $7,959 
ESPP638 2,571 
Total$16,445 $10,530