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Stock Incentive Plans and Stock Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2022
Share-Based Payment Arrangement [Abstract]  
Schedule of Share-based Payment Arrangement on Stock Option Activity
Stock option activity under our stock plans for the years ended December 31, 2022 and 2021 is set forth below:
  Weighted-Average 
 Stock Options
Outstanding		Exercise
Price		Remaining
Contractual
Term (Years)		Aggregate
Intrinsic
Value
(in thousands)
Balance as of January 1, 20213,369,502 $28.11 
Granted841,336 $48.97 
Exercised(414,890)$10.13 
Forfeited/Cancelled(209,260)$33.97 
Balance as of December 31, 20213,586,688 $34.75 
Granted263,645 $22.35 
Exercised(148,735)$5.59 
Forfeited/Cancelled(281,758)$34.08 
Balance as of December 31, 20223,419,840 $35.11 7.5$12,643 
Exercisable at December 31, 20222,032,859 $30.09 7.0$11,713 
Schedule of Share-based Payment Arrangement on Restricted Stock Units
The following table summarizes our RSU activity for the years ended December 31, 2022 and 2021:
Restricted Stock Units OutstandingWeighted-Average Grant Date Fair Value
Balance as of January 1, 2021161,477 $59.16 
Granted958,361 $43.05 
Vested(1)
(56,002)$61.07 
Forfeited/Cancelled(13,662)$62.80 
Balance as of December 31, 20211,050,174 $44.31 
Granted2,988,107 $23.15 
Vested (1)
(257,708)$45.14 
Forfeited/Cancelled(302,651)$27.12 
Balance as of December 31, 20223,477,922 $27.56 
(1)The aggregate number of shares withheld upon vesting for employee tax obligations was 73,821 and 16,640 for the years ended December 31, 2022 and 2021, respectively.
Schedule of Share-based Payment Arrangement on, Performance-Based Restricted Stock Units
The following table summarizes our PSU activity for the year ended December 31, 2022:
Performance-Based Restricted Stock Units OutstandingWeighted-Average Grant Date Fair Value
Balance as of December 31, 2021— $— 
Granted196,033 $23.23 
Vested— $— 
Forfeited/Cancelled— $— 
Balance as of December 31, 2022196,033 $23.23 
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions The following table sets forth the assumptions used to determine the fair value of stock options:
 Years Ended December 31,
20222021
Average expected term (years)
5.8
6.1
Expected stock price volatility
68.34% - 75.02%
66.50% - 68.83%
Risk-free interest rate
1.54% - 4.21%
0.51% - 1.48%
Dividend yield
—%
—%
Schedule of Share-based Payment Award, ESPP, Valuation Assumptions
The following table sets forth assumptions used to determine the fair value of the purchase rights issued under the ESPP:
 Years Ended December 31,
20222021
Average expected term (years)
1.3
1.2
Expected stock price volatility
62.98% - 91.78%
61.13% - 86.50%
Risk-free interest rate
0.60% - 3.45%
0.06% - 0.20%
Dividend yield
—%
—%
Schedule of Share-based Payment Arrangement, Expensed and Capitalized, Amount
Stock-based compensation expense is included in the consolidated statements of operations as follows (in thousands):
 Years Ended December 31,
 20222021
Cost of sales (exclusive of amortization of acquired intangible assets)$3,755 $2,058 
Research and development7,635 4,522 
Selling, general and administrative24,931 15,160 
Total stock-based compensation expense$36,321 $21,740