Equity Incentive Plans (Tables)

9 Months Ended

Sep. 30, 2023

Share-Based Payment Arrangement [Abstract]

Schedule of Stock Option Activity

Stock option activity for the nine months ended September 30, 2023 is as follows:

	Options Outstanding	Weighted-Average Exercise Price
Balance at December 31, 2022	10,214,430	$	13.90
Options granted	3,289,469	4.39
Options exercised	(37,234)	2.48
Options forfeited	(844,625)	9.65
Balance at September 30, 2023	12,622,040	$	11.74
Vested and exercisable, September 30, 2023	6,680,980	$	8.82

Schedule of Restricted Stock Unit Activity

Restricted Stock Unit activity for the nine months ended September 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	2,646,780	4.50
Vested	(465,265)	18.46
Forfeited	(510,322)	7.86
Balance at September 30, 2023	3,322,169	$	8.85

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 September 30,				Nine Months Ended September 30,
	2023		2022		2023		2022
Cost of revenue	$	392	$	299	$	1,127	$	784
Research and development	2,242		2,395		7,523		6,788
Selling, general and administrative	5,700		6,379		18,160		17,941
Total stock-based compensation	$	8,334	$	9,073	$	26,810	$	25,513