Stockholders' Equity (Tables)

12 Months Ended

Dec. 31, 2022

Stockholders' Equity Note [Abstract]

Summary of the Company has Reserved Shares of Common Stock for Future Issuances

The Company has reserved shares of common stock for future issuances as follows:

	December 31,
	2022		2021
Common stock options issued and outstanding		7,150,755		7,464,580
Shares available for future awards granted under the 2021 Plan		4,769,842		3,766,337
Unvested restricted stock units under the 2021 Plan		582,248		10,000
Common stock available for Employee Stock Purchase Plan		1,046,437		504,627
Total		13,549,282		11,745,544

Summary of Stock Option Activity under Stock Plans

Stock option activity under the Stock Plans is set forth below:

	Outstanding Options
	Number of Shares			Weighted- Average Remaining Contractual Term (in Years)		Weighted- Average Exercise Price
Balance, December 31, 2021		7,464,580			6.89	$	6.36
Options granted	1,346,553						19.39
Options exercised		(1,444,626	)				1.50
Options canceled		(215,752	)				13.82
Balance, December 31, 2022		7,150,755		7.03		$	9.57
Options vested and expected to vest at December 31, 2022		6,608,140			6.90	$	8.97
Options vested and exercisable at December 31, 2022		3,728,683			5.79	$	4.50

Summary of Full Value Award Activity Under Stock Plans

Full value award activity under the Stock Plans is set forth below:

	Full Value Awards
	RSUs			Weighted-Average Grant Date Fair Value		RSAs			Weighted-Average Grant Date Fair Value
Unvested as of December 31, 2021		10,000		$	22.13		19,023		$	31.50
Shares or units granted		592,778			19.04		—			—
Shares or units vested		(2,500	)		22.13		(6,223	)		31.50
Shares or units forfeited		(18,030	)		18.92		—			—
Unvested as of December 31, 2022		582,248		$	19.08		12,800		$	31.50

Summary of Company Determined the Fair Value of Warrants using Black-Scholes Option Pricing Model

The Company uses the Black-Scholes option pricing model to determine the fair value of stock options at the grant dates with the following assumptions for options granted during 2022, 2021 and 2020 fiscal years:

	December 31,
	2022	2021	2020
Expected term (in years)	6.25	2.1-6.25	2.7 - 3.3
Expected volatility	36.05% - 37.08%	35.57% - 55.60%	37.09% - 51.29%
Risk-free interest rate	1.64% - 4.34%	0.08% - 1.39%	0.18% - 1.53%
Expected dividend yield	0.00%	0.00%	0.00%

Summary of Share-Based Compensation Expense is Reflected in the Statements of Operations and Comprehensive Loss

Stock-based compensation expense is reflected in the statements of operations and comprehensive loss as follows (in thousands):

	Years Ended December 31,
	2022		2021		2020
Sales and marketing expense	$	2,928	$	1,231	$	479
Research and development expense		697		475		199
General and administrative expense		4,486		1,703		241
Total	$	8,111	$	3,409	$	919