Stock-Based Compensation (Tables)

6 Months Ended

Jun. 30, 2023

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 six months ended June 30, 2023:

Risk-free interest rate	4.0	%
Expected term (in years)	5.5
Expected volatility	85.2	%
Expected dividend yield	0	%

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 January 1, 2023		25,059,409		$	4.90		6.1	$	7,851
Granted		2,222,224			0.75
Exercised		(1,086,371	)		0.28
Forfeited		(717,370	)		6.32
Outstanding at June 30, 2023		25,477,892		$	4.65		6.1	$	1,690
Vested and expected to vest June 30, 2023		25,477,892		$	4.65		6.1	$	1,690
Exercisable at June 30, 2023		20,452,090		$	4.55		5.4	$	1,690

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 January 1, 2023		2,274,029		$	7.34
Granted		5,717,268		$	0.72
Vested		(645,172	)	$	6.71
Forfeited		(1,109,158	)	$	3.50
Outstanding at June 30, 2023		6,236,967		$	2.01

Schedule of Stock-based Compensation Expense

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

	Three Months Ended June 30,				Six Months Ended June 30,
	2023		2022		2023		2022
Cost of revenue	$	132	$	131	$	296	$	168
Research and development		447		741		1,005		989
Selling, general and administrative		3,277		3,657		6,543		5,794
	$	3,856	$	4,529	$	7,844	$	6,951