Stock-Based Compensation Plan (Tables)

12 Months Ended

Dec. 31, 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 price		Weighted-average remaining contractual term (in years)	Aggregate intrinsic value
Balance as of December 31, 2022	7,578,635	$	7.76	7.42	$	37,200
Options granted	1,295,948	10.09
Options exercised	(1,099,160)	1.33
Options forfeited	(363,937)	12.36
Options expired	(191,784)	14.60
Balance as of December 31, 2023	7,219,702	$	8.74	6.90	$	23,574
Options granted	1,916,670	6.86
Options exercised	(821,266)	1.23
Options forfeited	(320,447)	9.63
Options expired	(230,202)	13.59
Balance as of December 31, 2024	7,764,457	$	8.89	6.85	$	10,810
Options exercisable as of December 31, 2024	5,296,767	$	8.79	6.07	$	10,587

Schedule of RSU Awards Activity

The following table shows RSU awards activity during the periods indicated:

	Shares	Weighted-average grant date fair value per share		Weighted-average remaining contractual term (in years)	Aggregate intrinsic value (in thousands)
Unvested balance at December 31, 2022	1,169,508	$	13.36	1.59	$	11,941
Granted	2,445,364	10.05
Vested	(624,351)	12.20
Forfeited	(382,264)	11.02
Unvested balance at December 31, 2023	2,608,257	$	10.88	1.51	$	23,787
Granted	3,530,685	$	6.92
Vested	(1,372,225)	9.57
Forfeited	(545,839)	9.12
Unvested balance at December 31, 2024	4,220,878	$	8.22	1.46	$	27,393

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):

	Year Ended December 31,
	2024		2023		2022
Cost of sales	$	4,428	$	3,212	$	2,855
Research and development	6,427		6,676		5,035
Sales and marketing	4,766		4,290		3,419
General and administrative	11,227		7,870		5,286
Total stock-based compensation	$	26,848	$	22,048	$	16,595

Schedule of Share-Based Payment Award, Stock Options, Valuation Assumptions

The following table shows the weighted-average valuation assumptions used in determining the fair value of employee stock options:

	Year Ended December 31,
	2024		2023		2022
Expected term (in years)	6		5.96		5.91
Expected volatility	73	%	71	%	75	%
Risk-free interest rate	4	%	4	%	2	%
Dividend yield	—		—		—

Schedule of Share-Based Payment Award, Employee Stock Purchase Plan, Valuation Assumption

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:

	Year Ended December 31,
	2024		2023		2022
Expected term (in years)	0.5		0.5		0.5
Expected volatility	63	%	67	%	77	%
Risk-free interest rate	5	%	5	%	3	%
Dividend yield	—		—		—