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Stock-based Compensation (Tables)
 3 Months Ended
Mar. 31, 2024
Stock-based Compensation [Abstract]  
Stock Option Activity
A summary of the stock option activity is presented in the table below:

   
Number of
Options
    
Weighted Average
Exercise Price
(per share)
    
Weighted Average
Remaining
Contractual Life
(in years)
    
Aggregate
Intrinsic Value
(in thousands)
  
Outstanding at December 31, 2023
    
22,511,900
    
$
2.79
      
8.22
    
$
3,194
  
Granted
    
-
      
-
                  
Exercised
    
-
   
-
                  
Forfeited
    
(384,573
)
    
3.78
                  
Expired
    (25,520 )     0.06                  
Outstanding at March 31, 2024
    
22,101,807
    
$
2.78
      
8.01
    
$
2,832
  
Exercisable at March 31, 2024
    
7,918,930
    
$
3.52
      
6.65
    
$
610
  
Vested and expected to vest at March 31, 2024
    
18,615,698
    
$
2.85
      
7.86
    
$
2,286
  
RSU Activity
A summary of the RSU activity is presented in the table below:

   
Number of Shares
Underlying RSUs
    
Weighted Average
Grant-Date Fair
Value (per share)
  
Nonvested RSUs at December 31, 2023
    
847,169
     $ 2.68  
Granted
    
5,406,164
      
1.73
  
Vested
    
(46,572
)
    
6.66
  
Forfeited
    
(54,417
)
    
2.11
  
Nonvested RSUs at March 31, 2024
    
6,152,344
    

1.82
  
Stock-Based Compensation
Stock-based compensation is allocated to Research and development and Selling, general and administrative operating expenses in the Condensed Consolidated Statements of Operations and Comprehensive Loss. Stock-based compensation expense for the three months ended March 31, 2024 and 2023 is as follows (in thousands):

   
2024
    
2023
  
Research and development
  
$
490
    
$
967
  
Selling, general and administrative
    
1,155
      
2,941
Total stock-based compensation
  
$
1,645
    
$
3,908