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Stock-Based Compensation (Tables)

12 Months Ended

Dec. 31, 2023

Share-Based Payment Arrangement [Abstract]

Schedule of Weighted Average Grant Fair Value of Stock Options using Black-Scholes Option-pricing Model

The following table presents, on a weighted average basis, the assumptions used in the Black-Scholes option-pricing model to determine the grant-date fair value of stock options granted during the years ended December 31, 2023 and 2022:

		Year Ended December 31,
		2023				2022
Risk-free interest rate			4.1	%			2.7	%
Expected term (in years)			5.6				5.9
Expected volatility			86.5	%			77.1	%
Expected dividend yield			—	%			—	%

Schedule of Stock Option Activity

The following table summarizes option activity with service conditions under the 2021 Plan and the 2017 Plan:

		Options				Weighted Average Exercise Price				Weighted Average Contract Term (years)				Aggregate Intrinsic Value
Outstanding at December 31, 2022			2,514,452			$	49.08				6.1			$	7,851
Granted			741,634				5.35
Exercised			(108,637	)			2.80
Forfeited/Expired			(327,262	)			42.23
Outstanding at December 31, 2023			2,820,187			$	40.16				5.6			$	—
Vested and expected to vest December 31, 2023			2,820,187			$	40.16				5.6			$	—
Exercisable at December 31, 2023			2,025,287			$	46.01				4.5			$	—

Schedule of Activity Related to RSU Stock-Based Payment Awards

The following table summarizes activity related to RSU stock-based payment awards:

		Number of Shares				Weighted Average Grant Date Fair Value
Outstanding at December 31, 2022			227,013			$	73.35
Granted			954,931			$	6.29
Released			(83,759	)		$	65.05
Forfeited			(274,853	)		$	21.37
Outstanding at December 31, 2023			823,332			$	13.77

Schedule of Stock-based Compensation Expense

The Company recorded stock-based compensation expense in the following expense categories of its consolidated statements of operations:

	Year Ended December 31,
	2023				2022
Cost of revenues	$	580			$	410
Research and development		1,832				2,118
Selling, general and administrative		12,605				13,328
	$	15,017			$	15,856

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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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