Equity Incentive Plans (Tables)

6 Months Ended

Jun. 30, 2023

Share-Based Payment Arrangement [Abstract]

Schedule of Stock Option Activity

Stock option activity for the six months ended June 30, 2023 is as follows:

	Options Outstanding	Weighted-Average Exercise Price
Balance at December 31, 2022	10,214,430	$	13.90
Options granted	3,259,009	4.38
Options exercised	(23,161)	2.20
Options forfeited	(159,766)	11.69
Balance at June 30, 2023	13,290,512	$	11.61
Vested and exercisable, June 30, 2023	6,109,830	$	8.80

Schedule of Restricted Stock Unit Activity

Restricted Stock Unit activity for the six months ended June 30, 2023 is as follows:

	Restricted Stock Units	Weighted-Average Grant Date Fair Value
Balance at December 31, 2022	1,650,976	$	18.23
Granted	2,514,844	4.50
Vested	(426,896)	19.35
Forfeited	(83,885)	8.96
Balance at June 30, 2023	3,655,039	$	8.87

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 June 30,				Six Months Ended June 30,
	2023		2022		2023		2022
Cost of revenue	$	406	$	278	$	735	$	485
Research and development	2,733		2,392		5,281		4,393
Selling, general and administrative	6,613		5,708		12,460		11,562
Total stock-based compensation	$	9,752	$	8,378	$	18,476	$	16,440