Equity Incentive Plans (Tables)

3 Months Ended

Mar. 31, 2022

Share-based Payment Arrangement [Abstract]

Schedule of Stock Option Activity

Stock option activity for the three months ended March 31, 2022 is as follows:

	Options Outstanding	Weighted Average Exercise Price
Balance at December 31, 2021	9,832,924	$	12.49
Options granted	1,947,230	16.90
Options exercised	(194,207)	3.98
Options cancelled and forfeited	(25,943)	29.94
Balance at March 31, 2022	11,560,004	$	13.34
Vested and exercisable, March 31, 2022	3,732,802	$	8.43

Schedule of Restricted Stock Unit Activity

RSU activity for the three months ended March 31, 2022 is as follows:

	Restricted Stock Units	Weighted-Average Grant Date Fair Value
Balance at December 31, 2021	740,366	$	26.49
Granted	1,310,465	16.55
Vested	(89,044)	38.40
Cancelled	(2,745)	28.54
Balance at March 31, 2022	1,959,042	$	19.30

Summary of Components of Stock-based Compensation Expensed

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

	Three Months Ended March 31,
	2022		2021
Cost of revenue	$	208	$	—
Research and development	2,001		1,492
Selling, general and administrative	5,853		4,547
Total stock-based compensation	$	8,062	$	6,039