Equity Incentive Plans (Tables)

3 Months Ended

Mar. 31, 2023

Share-Based Payment Arrangement [Abstract]

Summary of Stock-Based Compensation Expense Recognized

Stock-based compensation expense recognized for stock options, restricted stock units ("RSUs"), and our employee stock purchase program (the "ESPP") are recorded as operating expenses in our condensed statements of operations and comprehensive loss, as follows (in thousands):

	Three Months Ended March 31,
	2023		2022
Selling, general and administrative	$	2,088	$	2,508
Research and development	824		1,214
Total	$	2,912	$	3,722

Summary of Total Unrecognized Stock-Based Compensation Expense, Net of Estimated Forfeitures

As of March 31, 2023, our total unrecognized stock-based compensation expense, net of estimated forfeitures, and average remaining vesting period, included the following (dollars in thousands):

	Unrecognized Compensation Expense		Average Remaining Vesting Period (Years)
Stock option grants	$	21,127	3.2
RSU grants	$	7,309	3.3
ESPP	$	292	0.3

Schedule of Stock Option Activity

A summary of our stock option activity and related information for the three months ended March 31, 2023 is as follows (in thousands, except dollar amounts):

	Number of Shares	Weighted-Average Exercise Price per Share
Balance at December 31, 2022	13,963	$	4.83
Options granted	6,472	$	2.78
Options exercised	(36)	$	1.65
Options forfeited or canceled	(56)	$	5.84
Balance at March 31, 2023	20,343	$	4.18
Exercisable at March 31, 2023	9,185	$	5.97

Schedule of Restricted Stock Units Activity

A summary of our RSUs activity and related information for the three months ended March 31, 2023 is as follows (in thousands, except dollar amounts):

	Number of RSUs	Weighted-Average Grant Date Fair Value Per Share
Non-vested restricted stock units at December 31, 2022	1,406	$	2.17
Granted	1,784	$	2.78
Vested	(208)	$	2.68
Forfeited	—	$	—
Non-vested restricted stock units at March 31, 2023	2,982	$	2.50