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Equity Incentive Plans (Tables)
 3 Months Ended
Mar. 31, 2023
Share-Based Payment Arrangement [Abstract]  
Schedule of Stock Option Activity
Stock option activity for the three months ended March 31, 2023 is as follows:
Options Outstanding
Weighted Average Exercise Price
Balance at December 31, 202210,214,430 $13.90 
Options granted2,247,900 4.60 
Options exercised(13,595)2.20 
Options forfeited
(101,825)12.77 
Balance at March 31, 202312,346,910 $12.23 
Vested and exercisable, March 31, 2023
5,241,662 $8.76 
Schedule of Restricted Stock Unit Activity
RSU activity for the three months ended March 31, 2023 is as follows:
Restricted Stock Units
Weighted-Average
Grant Date
Fair Value
Balance at December 31, 2022
1,650,976 $18.23 
Granted2,110,570 4.59 
Vested
(314,678)22.08 
Forfeited
(17,718)10.97 
Balance at March 31, 2023
3,429,150 $9.52 
Schedule 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,
20232022
Cost of revenue$328 $208 
Research and development2,549 2,001 
Selling, general and administrative5,847 5,853 
Total stock-based compensation$8,724 $8,062