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Stock-Based Compensation Plan (Tables)
 9 Months Ended
Sep. 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(560,505)1.56 
Options forfeited(315,297)9.54 
Options expired(141,740)15.79 
Balance as of September 30, 20248,118,830$8.64 6.87$9,844 
Options exercisable as of September 30, 20245,279,627$8.24 5.91$9,771 
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 
Granted3,466,0606.93   
Vested(986,704)9.75   
Forfeited(459,216)9.22   
Unvested balance at September 30, 20244,628,397$8.33 1.57$25,641 
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 September 30,Nine months ended September 30,
2024202320242023
Cost of sales$1,154 $829 $3,298 $2,389 
Research and development1,659 1,739 4,658 4,978 
Sales and marketing1,266 1,085 3,554 3,191 
General and administrative2,974 2,105 8,335 5,821 
Total stock-based compensation$7,053 $5,758 $19,845 $16,379 
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 September 30,Nine months ended September 30,
2024202320242023
Expected term (in years)06.026.05.96
Expected volatility— %73 %73 %71 %
Risk-free interest rate— %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 September 30,Nine months ended September 30,
2024202320242023
Expected term (in years)0.50.50.50.5
Expected volatility63 %67 %60 %75 %
Risk-free interest rate5 %5 %5 %5 %
Dividend yield— — — —