Stockholders' Equity (Tables)

9 Months Ended

Sep. 30, 2023

Share-Based Payment Arrangement [Abstract]

Schedule of Weighted-Average Assumptions used in determining the Fair Value of Stock Options Granted

The weighted-average assumptions used in determining the fair value of stock options granted were as follows:

	Three Months Ended September 30,				Nine Months Ended September 30,
	2023		2022		2023		2022
Volatility	86.7	%	83.8	%	83.5	%	78.6	%
Risk-free interest rate	4.39	%	3.25	%	3.64	%	1.92	%
Expected life (years)	6.25		6.25		6.20		6.19
Dividend yield rate	—	%	—	%	—	%	—	%

Schedule of Stock Options

A summary of stock option activity for the nine months ended September 30, 2023, is presented below:

				Weighted
		Weighted		Average
		Average		Remaining	Aggregate
	Stock	Exercise		Contractual	Intrinsic
	Options	Per Share		Terms (Years)	Value
Outstanding, December 31, 2022	4,769,521	$	9.24	7.02	$	2,911
Granted	1,339,521	10.62
Exercised	(34,518)	5.62
Canceled/forfeited	(259,892)	11.14
Outstanding, September 30, 2023	5,814,632	$	9.50	6.91	$	6,692
Exercisable, September 30, 2023	3,387,953	$	9.88	5.53	$	3,927

Schedule of Restricted Stock Units

A summary of RSU activity for the nine months ended September 30, 2023, is presented below:

		Weighted Average
		Grant Date
	Restricted	Fair Value
	Stock Units	Per Share
Outstanding, December 31, 2022	2,696,457	$	7.48
Granted	1,608,694	10.38
Vested	(738,923)	7.34
Forfeited	(275,056)	8.62
Outstanding, September 30, 2023	3,291,172	$	8.83

Schedule of Stock-based Compensation Expense

The following table summarizes stock-based compensation expense:

	Three Months Ended September 30,				Nine Months Ended September 30,
	2023		2022		2023		2022
Selling, general and administrative	$	4,295	$	2,398	$	11,445	$	8,236
Research and development	301		85		616		185
	$	4,596	$	2,483	$	12,061	$	8,421