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Stockholders’ Equity and Stock-Based Compensation (Tables) | 12 Months Ended
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Dec. 31, 2023
Stockholders’ Equity and Stock-Based Compensation [Abstract] |
Schedule of Activity for Common Stock Subject to Vesting | The activity for common stock subject to vesting is as follows:
|  | Shares Subject to Vesting |  |  | Weighted Average Grant Date Fair Value |
Balance of unvested shares - January 1, 2023 |  |  | 3,085,123 |  |  | $ | 5.01 |
Granted |  |  | 5,081,863 |  |  | $ | 2.08 |
Vested |  |  | (1,493,445 | ) |  | $ | 4.08 |
Forfeited |  |  | (1,034,008 | ) |  | $ | 2.92 |
Balance of unvested shares - December 31, 2023 |  |  | 5,639,533 |  |  | $ | 3.01 |
Schedule of Granted Options to Purchase | During the years ended December 31, 2023 and 2022, the Company granted options to purchase 4,217,330 and 5,576,191 shares, respectively of Class A common stock, to employees and consultants with a fair value of $5,651 and $15,461, respectively, calculated using the Black-Scholes option-pricing model with the following assumptions:
|  |  | Year Ended December 31, |
|  |  | 2023 |  |  |  | 2022 |
Risk-free interest rate |  |  | 3.42% - 4.39 | % |  |  | 1.94% - 3.92 | %
Expected term (in years) |  |  | 6.02 - 6.08 |  |  |  | 5.52 - 6.08 |
Dividend yield |  |  | — | % |  |  | — | %
Expected volatility |  |  | 74.42% - 79.44 | % |  |  | 68.87% - 70.26 | %
Schedule of Stock Based Awards Granted is Reported in the Statements of Operations | Total stock-based compensation expense related to all of the Company’s stock-based awards granted is reported in the statements of operations as follows:
|  | Year Ended December 31, |
|  | 2023 |  |  | 2022 |
Research and development |  | $ | 3,164 |  |  | $ | 2,696 |
Sales and marketing |  |  | 1,256 |  |  |  | 1,296 |
General and administrative |  |  | 8,847 |  |  |  | 8,263 |
Total |  | $ | 13,267 |  |  | $ | 12,255 |
Schedule of Option Activity | The option activity of the 2021 Plan for the year ended December 31, 2023, is as follows:
|  |  |  |  | Weighted Average Exercise |  |  | Weighted Average Remaining Contractual Life |
|  | Options |  |  | Price |  |  | (in years) |
Options outstanding at January 1, 2023 |  |  | 14,192,417 |  |  | $ | 3.90 |  |  |  | 8.26 |
Granted |  |  | 4,217,330 |  |  |  | 1.96 |  |  |  |  |
Exercised |  |  | (1,087,090 | ) |  |  | 0.27 |  |  |  |  |
Forfeited, expired, or cancelled |  |  | (5,057,319 | ) |  |  | 4.32 |  |  |  |  |
Options vested and expected to vest at December 31, 2023 |  |  | 12,265,338 |  |  | $ | 3.37 |  |  |  | 7.57 |
Schedule of Class A Common Stock for Future Issuance | As of December 31, 2023 and 2022, the Company has reserved the following shares of Class A Common Stock for future issuance (in thousands):
|  | As of December 31, |
|  | 2023 |  |  | 2022 |
Common stock options outstanding |  |  | 12,265 |  |  |  | 14,192 |
Restricted stock units outstanding |  |  | 5,640 |  |  |  | 3,085 |
Shares available for issuance under the 2021 Plan |  |  | 7,228 |  |  |  | 3,465 |
Public warrants |  |  | 17,249 |  |  |  | 17,249 |
Private warrants |  |  | 10,400 |  |  |  | 10,400 |
Total shares of authorized Common Stock reserved for future issuance |  |  | 52,782 |  |  |  | 48,391 |

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