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Stockholders' Equity and Stock-based Compensation Expense (Tables)
 6 Months Ended
Jun. 30, 2024
Share-Based Payment Arrangement [Abstract]  
Schedule of Activity under the 2019 Plan
Activity under the Company's equity incentive plans is summarized as follows:
Shares Available
for Grant
Balance, December 31, 20233,554,537 
Options and stock awards granted(1,304,378)
Stock awards canceled / forfeited / expired142,537 
Options canceled / forfeited / expired135,107 
Balance, June 30, 20242,527,803 
Options Outstanding
Number of Stock Options OutstandingWeighted Average Exercise PriceWeighted Average Remaining Term
 (in Years)
Balance, December 31, 20231,282,240 $17.97 8.21
Options granted1,154,500 $2.18 
Options exercised— $— 
Options canceled / forfeited / expired(135,107)$18.86 
Balance, June 30, 20242,301,633 $10.00 7.46
Stock Awards Outstanding
Number of Awards OutstandingWeighted Average Grant Date Fair Value per Share
Balance, December 31, 2023909,862$20.46 
Stock awards granted127,739$2.13 
Awards vested(188,072)$25.38 
Stock awards canceled / forfeited / expired(132,537)$22.16 
Balance, June 30, 2024716,992$15.66 
Schedule of Stock-based Compensation Expense
Stock-based compensation expense by financial statement line item recognized during the six months ended June 30, 2024 and 2023 was as follows (in thousands):
Three Months Ended
June 30,		Six Months Ended
June 30,
2024202320242023
Cost of revenue$144 $361 $293 $725 
Sales and marketing404 1,283 970 2,431 
Research and development264 415 569 1,108 
General and administrative781 (509)1,870 672 
Total stock-based compensation expense$1,593 $1,550 $3,702 $4,936