Stockholders' Equity (Deficit) (Tables)

12 Months Ended

Dec. 31, 2022

Share-Based Payment Arrangement [Abstract]

Summary of Assumptions Used to Determine Grant-Date Fair Value of Options Granted

The assumptions that the Company used to determine the grant-date fair value of options granted were as follows:

	Year Ended December 31,
	2022		2021
Expected volatility	68%		74%
Risk-free interest rate	1.47% — 4.23%		0.82% — 1.34%
Expected term (in years)	6			6
Expected dividend yield		—		—

Summary of Stock Option Activity and Related Information

The following table summarizes the option activity:

(in thousands, except share and per share data)	Options			Weighted Average Exercise Price		Weighted Average Remaining Life (in years)		Aggregate Intrinsic Value
Outstanding January 1, 2022		7,967,750		$	9.35		8.7	$	36,946
Granted		2,265,216			9.80
Exercised		(314,272	)		1.69
Canceled		(537,265	)		11.45
Outstanding December 31, 2022		9,381,429		$	9.59		8.2	$	34,879
Options exercisable— December 31, 2022		4,067,132		$	8.51		7.6	$	20,625
Options vested or expected to vest— December 31, 2022		9,381,429		$	9.59		8.2	$	34,879

Summary of RSU Activity

A summary of the Company’s RSU activity and related information for the 2020 Plan for the year ended December 31, 2022 is as follows:

	Number of Shares Underlying RSUs			Weighted Average Grant Date Fair Value
Issued and unvested as of January 1, 2022		1,056,984		$	16.99
Granted		1,035,314			10.41
Vested		(289,626	)		17.85
Forfeited		(107,481	)		13.90
Issued and unvested as of December 31, 2022		1,695,191		$	13.02

Summary of Stock-based Compensation Expense

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

	Year Ended December 31,
(in thousands)	2022		2021
Research and development	$	8,218	$	7,328
General and administrative		6,960		10,214
Total	$	15,178	$	17,542