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Equity Incentive Plans and Stock-Based Compensation (Tables)
 9 Months Ended
Sep. 30, 2023
Share-Based Payment Arrangement [Abstract]  
Schedule of Black-Scholes Option Pricing Model to Estimate Stock-based Compensation Expense for Stock Option Awards
The Company used the Black-Scholes option pricing model to estimate stock-based compensation expense for stock option awards with the following assumptions:
  
Three months ended September 30,
Nine months ended September 30,
 2023202220232022
Expected volatility
82.66% - 83.22%
78.96% - 79.53%
80.97% - 83.22%
73.78% - 79.53%
Risk-free interest rate
3.95% - 4.38%
2.86% - 3.59%
3.42%- 4.38%
1.64% - 3.59%
Expected dividend————
Expected term (in years)
6.00 - 6.08
5.77 - 6.08
5.31- 6.08
5.33 - 6.08
Underlying common stock fair value
$16.01 - $18.80
$7.67 - $24.23
$16.01 - $34.65
$4.92 - $24.23
Schedule of Option Activity Under the 2015 Plan and 2020 Plan A summary of option activity under the 2015 Plan and the 2020 Plan is as follows:
  Number
of
Options		Weighted-
Average Exercise
Price per Share		Weighted-
Average
Remaining
Contractual
Term (in Years)		Aggregate
Intrinsic
Value
Outstanding as of December 31, 20225,569,567 $13.34 7.96$43,696 
Granted1,899,214 28.83 
Exercised(504,684)6.86 
Forfeited(111,445)17.64 
Outstanding as of September 30, 20236,852,652 $18.04 8.01$29,986 
Exercisable as of September 30, 20233,150,334 $14.46 7.13$20,383 
Vested and expected to vest as of September 30, 20236,852,652 $18.04 8.01$29,986 
Schedule of Restricted Stock Activity The following table sets forth the outstanding RSUs and related activity for the nine months ended September 30, 2023:
Restricted Stock UnitsWeighted Average Grant Date Fair Value
Unvested and outstanding at December 31, 2022507,925 $17.43 
Granted683,703 34.36 
Released(247,488)17.43 
Forfeited(27,432)24.21 
Unvested and outstanding at September 30, 2023916,708 $29.86 
Schedule of Share-Based Payment Award, Equity Instruments Other Than Options, Valuation Assumptions The fair value of the TSR PSUs were derived from a Monte Carlo simulation model that used the following key assumptions:
Valuation date share price$17.57 
Award term (years)1.92
Volatility70.62 %
Correlation coefficient0.3508
Average peer group volatility79.69 %
Average peer group correlation coefficient0.4397
Risk free interest rate2.84 %
Schedule of Black-Scholes Option Pricing Model to Estimate Stock-based Compensation Expense for 2020 Employee Stock Purchase Plan The Company used Black-Scholes option pricing model to estimate stock-based compensation expense for the 2020 ESPP with the following assumptions:
  
Nine months ended September 30,
 20232022
Risk-free interest rate
5.20% - 5.47%
0.60% - 3.34%
Expected term of options (in years)0.500.50
Expected stock price volatility
54.78% - 69.15%
63.17% - 82.02%
Expected dividends——
Schedule of Classification of Stock-based Compensation Expense
The following table presents the components and classification of stock-based compensation expense for the Company’s stock-based awards for the three and nine months ended September 30, 2023 and 2022 (in thousands):
Three Months Ended
September 30,
Nine Months Ended
September 30,
2023202220232022
Restricted stock awards$— $— $— $36 
Stock options and ESPP5,498 3,087 15,530 9,986 
Restricted stock units2,990 800 8,559 800 
Performance-based restricted stock units1,875 921 11,242 921 
Total stock-based compensation expense$10,363 $4,808 $35,331 $11,743 
Research and development expenses$4,378 $2,999 $14,520 $6,675 
General and administrative expenses$5,985 $1,809 $20,811 $5,068