Stock Incentive Plans (Tables)

6 Months Ended

Jun. 30, 2022

Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]

Changes in shares available for grant under the 2021 Plan

Changes in shares available for grant under the 2021 Plan during the six months ended June 30, 2022 were as follows:

	Shares Available  for Grant
Shares available for grant at December 31, 2021		1,216,719
2021 Plan reserve increase January 1, 2022		1,156,153
ESPP reserve increase January 1, 2022		231,230
Options and restricted units granted		(1,018,145	)
Options and restricted units forfeited, cancelled, or expired		154,905
Shares available for grant at June 30, 2022		1,740,862

Summary of Restricted Stock Unit Activity

The following table is a summary of the restricted stock unit activity for the six months ended June 30, 2022:

	Number of RSUs		Weighted Average Grant Date Fair Value		Number of PSUs		Weighted Average Grant Date Fair Value
Unvested restricted stock outstanding as of December 31, 2021		10,571	$	9.71		475,000	$	9.33
Granted		—		—		—		—
Forfeited		—		—		—		—
Vested		—		—		—		—
Unvested restricted stock outstanding as of June 30, 2022		10,571	$	9.71		475,000	$	9.33

Stock Options [Member]

Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]

Summary of the Company's Stock Option Activity under its Stock Option Plans

A summary of the Company’s stock option activity under its stock option plans was as follows (in thousands, except share and per share data and years):

	Options Outstanding
	Number of Options			Weighted -Average Exercise Price		Remaining Contractual Term (Years)		Aggregate Intrinsic Value
Balance — December 31, 2021		3,345,912		$	7.91		8.1	$	6,662,168
Authorized		—
Granted		1,018,145			9.48
Exercised		(73,251	)		2.76
Cancelled		(154,905	)		10.50
Balance — June 30, 2022		4,135,901		$	8.29		8.1	$	7,841,877
Exercisable — June 30, 2022		1,760,722		$	6.08		6.9	$	6,400,314

Schedule of Fair Value of Stock Option Awards Granted to Employees

The fair value of stock option awards granted to employees was estimated at the date of grant using a Black-Scholes-Merton option pricing model with the following assumptions:

	Three Months Ended June 30,		Six Months Ended June 30,
	2022	2021	2022	2021
Expected term (in years)	6.1	6.1	6.1	6.1
Expected volatility	72.7%-73.4%	59.2%-85.5%	72.7%-73.4%	59.2%-85.5%
Risk-free interest rate	2.79% -3.33%	0.79%-0.86%	1.70% - 3.33%	0.42% - 0.92%
Expected dividends	—	—	—	—

PSUs [Member]

Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]

Schedule of Fair Value of Stock Option Awards Granted to Employees

The fair value of PSUs granted to employees was estimated at the date of grant using the following assumptions:

	December 31,
	2021
Contractual term (in years)	2.1
Expected volatility		0.83	%
Risk-free interest rate		0.70	%
Expected dividends	—