Stock-Based Compensation (Tables)

12 Months Ended

Dec. 31, 2022

Share-Based Payment Arrangement [Abstract]

Schedule of Weighted Average Grant Fair Value of Stock Options using Black-Scholes Option-pricing Model

The following table presents, on a weighted average basis, the assumptions used in the Black-Scholes option-pricing model to determine the grant-date fair value of stock options granted during the years ended December 31, 2022 and 2021:

	Year Ended December 31,
	2022			2021
Risk-free interest rate		2.7	%		0.8	%
Expected term (in years)		5.9			4.7
Expected volatility		77.1	%		80.4	%
Expected dividend yield		—	%		—	%

Schedule of Stock Option Activity

The following table summarizes option activity with service conditions under the 2021 Plan and the 2017 Plan:

	Options			Weighted Average Exercise Price		Weighted Average Contract Term (years)		Aggregate Intrinsic Value
Outstanding at December 31, 2020		17,167,165		$	1.63		7.3	$	100,633
Granted		9,681,736			8.57
Exercised		(703,512	)		0.91
Forfeited		(2,080,803	)		4.04
Outstanding at December 31, 2021		24,064,586		$	4.23		7.4	$	56,525
Granted		3,353,573			8.00
Exercised		(1,710,471	)		0.56
Forfeited		(648,279	)		7.60
Outstanding at December 31, 2022		25,059,409		$	4.90		6.1	$	7,851
Vested and expected to vest December 31, 2022		25,059,409		$	4.90		6.1	$	7,851
Exercisable at December 31, 2022		20,277,617		$	4.15		5.4	$	7,851

Schedule of Activity Related to RSU Stock-Based Payment Awards

The following table summarizes activity related to RSU stock-based payment awards:

	Number of Shares			Weighted Average Grant Date Fair Value
Outstanding at December 31, 2020		—		$	—
Granted		488,600		$	7.20
Forfeited		(13,900	)	$	7.20
Outstanding at December 31, 2021		474,700		$	7.20
Granted		2,342,891		$	7.51
Vested		(232,521	)	$	7.21
Forfeited		(311,041	)	$	8.46
Outstanding at December 31, 2022		2,274,029		$	7.34

Schedule of Stock-based Compensation Expense

The Company recorded stock-based compensation expense in the following expense categories of its consolidated statements of operations:

	Year Ended December 31,
	2022		2021
Cost of revenues	$	410	$	72
Research and development		2,118		11,105
Selling, general and administrative		13,328		28,833
	$	15,856	$	40,010