Stock-Based Compensation (Tables)

9 Months Ended

Sep. 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 nine months ended September 30, 2023:

Risk-free interest rate	4.1	%
Expected term (in years)	5.6
Expected volatility	86.5	%
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		7,416,215			0.54
Exercised		(1,086,371	)		0.28
Forfeited		(2,309,879	)		4.02
Outstanding at September 30, 2023		29,079,374		$	3.99		6.2	$	—
Vested and expected to vest September 30, 2023		29,079,374		$	3.99		6.2	$	—
Exercisable at September 30, 2023		20,461,611		$	4.58		4.8	$	—

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		9,549,318		$	0.63
Vested		(653,224	)	$	6.67
Forfeited		(2,377,769	)	$	2.32
Outstanding at September 30, 2023		8,792,354		$	1.45

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 September 30,				Nine Months Ended September 30,
	2023		2022		2023		2022
Cost of revenue	$	166	$	126	$	462	$	294
Research and development		379		661		1,384		1,650
Selling, general and administrative		3,053		3,732		9,596		9,526
	$	3,598	$	4,519	$	11,442	$	11,470