Equity Incentive Plans (Tables)

9 Months Ended

Sep. 30, 2022

Share-Based Payment Arrangement [Abstract]

Schedule of Stock Option Activity

Stock option activity for the nine months ended September 30, 2022 is as follows:

	Options Outstanding	Weighted Average Exercise Price
Balance at December 31, 2021	9,832,924	$	12.49
Options granted	2,930,552	14.44
Options exercised	(306,854)	4.52
Options cancelled and forfeited	(1,784,904)	11.16
Balance at September 30, 2022	10,671,718	$	13.48
Vested and exercisable, September 30, 2022	4,694,141	$	7.58

Schedule of Restricted Stock Unit Activity

RSU activity for the nine months ended September 30, 2022 is as follows:

	Restricted Stock Units	Weighted-Average Grant Date Fair Value
Balance at December 31, 2021	740,366	$	26.49
Granted	1,625,359	15.11
Vested	(263,505)	21.16
Cancelled	(474,382)	15.83
Balance at September 30, 2022	1,627,838	$	18.51

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 September 30,				Nine Months Ended September 30,
	2022		2021		2022		2021
Cost of revenue	$	299	$	523	$	784	$	1,271
Research and development	2,395		1,022		6,788		3,209
Selling, general and administrative	6,379		5,241		17,941		14,776
Total stock-based compensation	$	9,073	$	6,786	$	25,513	$	19,256