Stockholders' Equity (Tables)

12 Months Ended

Dec. 31, 2021

Equity [Abstract]

Schedule of Shares Reserved for Future Issuance

The Company has reserved shares of common stock for future issuances as follows:

	December 31,
	2021	2020
Common stock options issued and outstanding	2,145,131	2,923,403
Common stock restricted stock units issued and outstanding	442,428	—
Common stock available for future grants	3,751,115	3,233,794
Common stock available for ESPP	932,458	720,000
Total	7,271,132	6,877,197

Schedule of Summary of Stock Option Activity

Activity under the Stock Plans is set forth below:

	Outstanding Options
	Number of Shares	Weighted Average Exercise Price
Balance, December 31, 2019	3,279,324	$	1.66
Options granted	1,466,071	7.73
Options exercised	(1,745,040)	1.55
Options canceled	(76,952)	3.55
Balance, December 31, 2020	2,923,403	$	4.72
Options granted	421,200	43.79
Options exercised	(1,065,567)	1.77
Options canceled	(133,905)	11.44
Balance, December 31, 2021	2,145,131	$	13.44

Schedule of Options Vested and Expected to Vest

	December 31, 2021
	Number of Shares	Weighted Average Exercise Price		Weighted Average Contractual Life (in Years)
Options vested	751,752	$	7.91	7.13
Options vested and expected to vest	2,145,131	$	13.44	8.15

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 Stock	Weighted Average Grant Date Fair Value
Unvested, January 1, 2021	—	$	—
Granted	503,110	42.49
Vested	(40,908)	43.40
Canceled	(19,774)	43.60
Unvested, December 31, 2021	442,428	$	42.36

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,
	2021	2020
Weighted average expected term (in years)	5.0 - 6.3	5.0 - 6.1
Volatility	44.0% - 44.5%	40.0% - 44.7%
Risk-free interest rate	0.6% - 1.0%	0.2% - 1.7%
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.

	Year Ended	Year Ended
	December 31, 2021	December 31, 2020
Weighted average expected term (in years)	0.5	0.6
Volatility	36.1% - 42%	67.7% - 68.2%
Risk-free interest rate	0.1%	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,
	2021		2020
Cost of goods sold	$	587	$	39
Research and development	1,278		398
Selling, general and administrative	8,665		2,760
Total	$	10,530	$	3,197

The above stock-based compensation expense related to the following equity-based awards:

	Years Ended December 31,
	2021		2020
Stock options and restricted stock units	$	7,959	$	2,055
ESPP	2,571		1,142
Total	$	10,530	$	3,197