Stock-Based Compensation (Tables)

12 Months Ended

Dec. 31, 2023

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

Assumptions used in Determining Fair Value of Employee Stock Purchase Plan

Below are the assumptions used for the years ended December 31, 2023 and 2022 in determining the fair value of shares under the ESPP.

	Year Ended December 31,
	2023			2022
Expected volatility		54.64	%		70.27	%
Expected dividends		—			—
Expected term (in years)		0.50			0.50
Discount rate		15.00	%		15.00	%
Risk-free rate		5.26	%		2.79	%

Assumptions used in Determining Fair Value of Stock Options

Below are the assumptions used for the years ended December 31, 2023, 2022 and 2021 in determining the fair value of each option award:

	Year Ended December 31,
	2023			2022		2021
Expected volatility		66.20	%	55% - 70%		52% - 55%
Expected dividends		—			—		—
Expected term (in years)		6.25			6.00	5.75 - 6.25
Risk-free rate		4.11	%	1.69 - 2.79%		0.47% - 1.20%

2011 and 2021 Plans

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

Summary of Stock Option Activity

The following table summarizes the Company’s stock option plan and the activity for the year ended December 31, 2023.

	Shares			Weighted-Average Exercise Price		Weighted-Average Remaining Contractual Term (Years)
Outstanding, December 31, 2022		6,538,536		$	10.02		7.36
Granted		225,000			18.33
Exercised or released		(458,005	)		6.56
Forfeited or expired		(361,633	)		15.29
Outstanding, December 31, 2023		5,943,898		$	10.28		6.53
Exercisable, December 31, 2023		4,292,558		$	8.51		6.02
Vested and expected to vest at December 31, 2023		5,938,438		$	10.27		6.53

2021 Incentive Award Plan

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

Summary of Restricted Stock Units Activity

The following table summarizes the Company's restricted stock units' activity for the years ended December 31, 2023.

	Year Ended December 31,
	2023
	Restricted Stock Units			Weighted-Average Fair Value
Outstanding, beginning of period		964,054		$	17.74
Granted		776,359			16.56
Vested		(273,618	)		17.65
Forfeited or expired		(149,393	)		17.81
Outstanding, end of period		1,317,402		$	17.06
Vested and expected to vest at end of period		1,305,827		$	17.05