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Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]  
Schedule of employee and nonemployee stock option activity
A summary of the Company’s employee and nonemployee stock option activity for the years ended December 31, 2023 and 2022, as adjusted to reflect the Reverse Stock Split, is presented below:
Option SharesWeighted
Average
Exercise
Price		Weighted
Average
Remaining
Contract
Term
(in years)		Aggregate
Intrinsic
Value
(in thousands)
Outstanding as of December 31, 20211,664,448 $19.10 7.5$126,591 
Granted68,105 78.00 
Exercised(173,889)5.80 
Expired/Forfeited(132,532)41.60 
Outstanding as of December 31, 20221,426,132 $21.45 6.5$6,486 
Granted8,500 4.45 
Exercised(30,685)1.00 
Expired/Forfeited(145,464)44.02 
Outstanding as of December 31, 20231,258,483 $19.22 4.5$767 
Exercisable, December 31, 20231,136,831 $16.93 4.2$767 
Vested and expected to vest as of December 31, 20231,258,483 $19.22 4.5$767 
Schedule of weighted average assumptions used in the Black-Scholes option-pricing model for stock options
The weighted-average assumptions used in the Black-Scholes option-pricing model for stock options for the years ended December 31, 2023 and 2022, were as follows:
Year Ended December 31,
20232022
Stock price
$3.70 - $5.30
$14.70 - $94.00
Expected volatility41 %
39 - 41%
Risk-free interest rate
3.75 - 4.28%
1.79 - 3.98%
Expected term
5.84 - 6 years
5.92 - 6 years
Expected dividend yield— %— %
Summary of RSU activity
A summary of the Company’s RSU activity for the years ended December 31, 2023 and 2022, as adjusted to reflect the Reverse Stock Split, is presented below:
RSU SharesWeighted Grant Date Fair Value
Outstanding as of December 31, 2021— $— 
Granted537,115 $25.60 
Released(18,115)$23.10 
Forfeited(48,132)$26.10 
Outstanding as of December 31, 2022470,868 $25.66 
Granted489,762 $10.19 
Released(173,077)$25.79 
Forfeited(179,524)$14.81 
Outstanding as of December 31, 2023608,029 $16.36 
Schedule of weighted-average fair value of PSUs
The weighted-average fair value of the PSUs was determined using the Monte Carlo simulation model incorporating the following weighted-average assumptions as of grant date on May 3, 2022:
Grant date stock price$29.80 
Expected volatility74.0 %
Risk-free interest rate2.90 %
Expected term2.8 years
Expected dividend yield0 %
Schedule of stock based compensation expense related to options granted to employees and non employees
For the years ended December 31, 2023 and 2022, the Company recorded stock-based compensation expense related to options granted to employees and non-employees as follows (in thousands):
Year Ended December 31,
20232022
Cost of revenue$187 $165 
Research and development expense4,124 4,400 
Selling, general and administrative expense4,261 3,678 
Total stock-based compensation expense$8,572 $8,243