Equity Incentive Plans (Tables)

12 Months Ended

Dec. 31, 2023

Share-Based Payment Arrangement [Abstract]

Schedule of Stock Option Activity

Stock option activity for the year ended December 31, 2023 is as follows:

	Options Outstanding			Weighted-Average Exercise Price		Weighted-Average Remaining Term (Years)		Aggregate Intrinsic Value (in thousands)
Balance at December 31, 2022		10,214,430		$	13.90		8.00	$	12,685
Options granted		3,576,669			4.17
Options exercised		(188,998	)		0.52
Options forfeited		(1,657,069	)		8.92
Balance at December 31, 2023		11,945,032		$	11.89		6.89	$	454
Vested and exercisable, December 31, 2023		6,893,780		$	8.88		6.40	$	410

Schedule of Stock Option Valuation Assumptions

The fair value of stock options granted to employees, directors, and non-employees that are calculated using the Black-Scholes option pricing model using the following assumptions:

	Year Ended December 31,
	2023		2022
Risk-free interest rate	3.4% - 4.7%		1.6% - 4.2%
Expected volatility	76.0% - 83.5%		59.8% - 97.0%
Expected term (in years)	5.77 - 6.08		5.77 - 6.08
Expected dividend yield		—		—

Schedule of RSU Activity

RSU activity for the year ended December 31, 2023 is as follows:

	Number of Shares			Weighted-Average Grant Date Fair Value
Balance at December 31, 2022		1,650,976		$	18.23
Granted		3,415,976			3.86
Vested		(510,538	)		18.13
Forfeited		(876,338	)		7.37
Balance at December 31, 2023		3,680,076		$	7.49

Schedule of Employee Stock Purchase Plan Valuation Assumptions

The fair value of the ESPP shares is estimated using the Black-Scholes option pricing model, based on the following assumptions:

	Year Ended December 31,
	2023		2022
Risk-free interest rate	5.3% - 5.4%		1.5% - 4.5%
Expected volatility	85.7% - 97.3%		79.1% - 88.5%
Expected term (in years)		0.50		0.50
Expected dividend yield		—		—

Schedule of Components of Stock-based Compensation Expensed

The following table summarizes the components of stock-based compensation recognized in the Company’s consolidated statements of operations and comprehensive loss (in thousands):

	Year Ended December 31,
	2023		2022
Cost of revenue	$	1,490	$	1,083
Research and development		9,709		9,125
Selling, general and administrative		23,225		23,465
Total stock-based compensation	$	34,424	$	33,673