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Stock-Based Compensation Plan (Tables)
 6 Months Ended
Jun. 30, 2024
Share-Based Payment Arrangement [Abstract]  
Schedule of Stock Option Activity
The following table shows stock option activity during the periods indicated (in thousands except share and per share data):
Number of options outstanding
Weighted-average exercise priceWeighted-average remaining contractual term
(in years)		Aggregate intrinsic value
Balance as of December 31, 20237,219,702$8.74 6.90$23,574 
Options granted1,916,6706.86 
Options exercised(483,157)1.51 
Options forfeited(95,210)13.25 
Options expired(133,785)16.18 
Balance as of June 30, 20248,424,220$8.56 7.28$10,232 
Options exercisable as of June 30, 20244,949,291$7.95 6.19$10,034 
Schedule of RSU Awards Activity
The following table shows RSU awards activity during the periods indicated:
Shares
Weighted-average grant date fair value per shareWeighted-average remaining contractual term (in years)Aggregate intrinsic value (in thousands)
Unvested balance at December 31, 20232,608,257$10.88 1.51$23,787 
Granted3,358,4676.97   
Vested(582,543)10.18   
Forfeited(232,552)10.24   
Unvested balance at June 30, 20245,151,629$8.44 1.68$28,746 
Schedule of Stock-Based Compensation Expense
The following table shows the allocation of stock-based compensation expense related to the Company’s stock-based awards (in thousands):
Three months ended June 30,Six months ended June 30,
2024202320242023
Cost of sales$1,200 $868 $2,145 $1,560 
Research and development1,677 1,805 2,999 3,239 
Sales and marketing1,280 1,171 2,287 2,107 
General and administrative2,995 2,078 5,361 3,715 
Total stock-based compensation$7,152 $5,922 $12,792 $10,621 
Schedule of Weighted Average Valuation Assumptions Used to Calculate the Fair Value of Options Granted The following table shows the weighted-average valuation assumptions used in determining the fair value of employee stock options:
Three months ended June 30,Six months ended June 30,
2024202320242023
Expected term (in years)5.915.56.05.96
Expected volatility74 %70 %73 %71 %
Risk-free interest rate4 %4 %4 %4 %
Dividend yield- - - - 
Schedule of Weighted Average Valuation Assumptions Used to Calculate the Fair Value of the ESPP for the Initial Offering The following table summarizes the weighted-average assumptions used in estimating the fair value of the ESPP for the current offering period using the Black-Scholes option-pricing model:
Three months ended June 30,Six months ended June 30,
2024202320242023
Expected term (in years)0.50.50.50.5
Expected volatility63 %70 %58 %76 %
Risk-free interest rate5 %4 %5 %4 %
Dividend yield- - - -