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Equity Incentive Plans (Tables)
 6 Months Ended
Jun. 30, 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 June 30,Six Months Ended June 30,
2023202220232022
Selling, general and administrative$2,303 $2,220 $4,391 $4,728 
Research and development896 973 1,720 2,096 
Total$3,199 $3,193 $6,111 $6,824 
Summary of Total Unrecognized Stock-Based Compensation Expense, Net of Estimated Forfeitures
As of June 30, 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 ExpenseAverage Remaining Vesting Period (Years)
Stock option grants$21,167 3.0
RSU grants$7,776 3.1
ESPP$118 0.2
Schedule of Stock Option Activity
A summary of our stock option activity and related information for the six months ended June 30, 2023 is as follows (in thousands, except dollar amounts):
Number of SharesWeighted-Average
Exercise Price per
Share
Balance at December 31, 202213,963 $4.83 
Options granted7,331 $2.92 
Options exercised(99)$2.12 
Options forfeited or canceled(121)$4.87 
Balance at June 30, 202321,074 $4.18 
Exercisable at June 30, 202310,269 $5.63 
Schedule of Restricted Stock Units Activity
A summary of our RSUs activity and related information for the six months ended June 30, 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, 20221,406 $2.17 
Granted2,203 $2.98 
Vested(509)$2.86 
Forfeited(35)$3.88 
Non-vested restricted stock units at June 30, 20233,065 $2.62