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Stock Incentive Plan and Stock-based Compensation (Tables)
12 Months Ended
Dec. 31, 2022
Stock Incentive Plan and Stock-based Compensation  
Summary of changes in stock options granted

    

    

    

Weighted-

Weighted-

Average

Average

Remaining

Number of

Exercise

Contractual

    

Awards

    

Price

    

Term

Awards outstanding—December 31, 2021

 

5,716,597

$

22.53

 

8.09

Awards issued

 

1,719,579

$

49.52

 

  

Awards exercised

 

(761,414)

$

10.27

 

  

Awards forfeited

 

(213,815)

$

30.46

 

  

Awards outstanding—December 31, 2022

 

6,460,947

$

30.90

 

7.86

Summary of changes in SARs granted

    

    

    

Weighted-

Weighted-

Average

Average

Remaining

Number of

Exercise

Contractual

    

Awards

    

Price

    

Term

Awards outstanding—December 31, 2021

 

49,294

$

9.24

 

7.29

Awards issued

 

$

 

  

Awards exercised

 

(3,651)

$

8.22

 

  

Awards forfeited

 

(2,435)

$

8.22

 

  

Awards outstanding—December 31, 2022

 

43,208

$

9.38

 

6.32

Summary of changes in RSUs granted

    

    

    

Weighted-

Weighted-

Average

Average

Remaining

Number of

Exercise

Contractual

    

Awards

    

Price

    

Term

Awards outstanding—December 31, 2021

 

60,000

$

29.03

 

9.24

Awards issued

 

$

 

  

Awards exercised

 

$

 

  

Awards forfeited

 

$

 

  

Awards outstanding—December 31, 2022

 

60,000

$

29.03

 

8.24

Summary of assumptions used to value awards

As of

 

    

December 31, 

    

December 31, 

December 31, 

 

    

2022

    

2021

2020

 

Dividend yield

 

0.00

%  

0.00

%

0.00

%

Expected volatility

 

72.57 - 77.08

%  

60.00

%

55.00 - 95.80

%

Risk-free interest rate

 

1.99 - 4.05

%  

0.66 - 1.44

%

0.32 - 0.56

%

Lack of marketability discount

 

0.00

%  

0.00

%

0.00 - 20.48

%

Expected term (years)

 

3.1 - 6.3

 

4.1 - 6.3

5.4 - 6.5

Summary of stock-based compensation expense

Year Ended December 31, 

    

2022

    

2021

2020

Research and development expense

$

2,614

$

2,121

$

586

Sales and marketing expense

 

3,886

 

3,103

 

703

General and administrative expense

 

20,405

 

10,881

 

3,901

$

26,905

$

16,105

$

5,190