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Share-Based Compensation (Tables)
12 Months Ended
Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]  
Summary of Weighted Average Assumptions used in the Black-Scholes-Merton Option-Pricing Model
The weighted average assumptions used in the Black-Scholes-Merton option-pricing model for the units granted during the years ended December 31, 2023 and 2022 Stock Options are provided in the following table:
December 31, 2023December 31, 2022
Valuation assumptions:  
Expected dividend yield—%—%
Expected volatility
56.2% to 64.0%
35.00% to 60.00%
Risk-free interest rate
3.40% to 4.30%
2.33% to 3.87%
Expected term (years)
 6.25
5.75 to 6.65
Summary of Stock Option Activity
Stock option activity during the years ended December 31, 2023 and 2022 is as follows:
Stock optionsNumber of sharesWeighted average exercise priceWeighted average remaining contractual termAggregate intrinsic value (in thousands)
Balance at January 1, 20238,049,474 $2.14 
Granted1,979,203 0.50 
Exercised
(138,315)0.91 
Forfeited(1,225,337)2.36 
Expired(139,763)2.18
Balance at December 31, 2023
8,525,262 $1.74 7.04$8,220 
Vested Options Exercisable at December 31, 2023
4,598,066 $1.60 6.05$4,550 
Stock optionsNumber of sharesWeighted average exercise priceWeighted average remaining contractual termAggregate intrinsic value (in thousands)
Balance at January 1, 20226,921,180$0.88 
Granted2,940,064 4.67 
Exercised(973,389)0.90 
Forfeited(836,505)2.35 
Expired(1,876)0.97 
Balance at December 31, 2022
8,049,474 $2.14 7.64$4,081 
Vested Options Exercisable at December 31, 2022
2,860,085 $1.34 6.90$2,061 
Summary of the Activity for the RSUs and RSAs
A summary of the activity for the RSUs and RSAs for the years ended December 31, 2023 and 2022, respectively, are shown in the following tables:
Year Ended December 31,
20232022
Number of SharesWeighted Average Grant Date Fair ValueNumber of SharesWeighted Average Grant Date Fair Value
Unvested at beginning of year2,106,540 $7.25 1,291,492 $10.98 
Granted2,332,757 0.83 2,163,135 5.74 
Vested(1,501,805)3.04 (760,973)9.31 
Forfeited(761,070)4.23 (587,114)7.21 
Unvested at end of year2,176,422 $3.50 2,106,540 $7.25 
            
A summary of the activity for the equity-classified Medical RSUs for the year ended December 31, 2023 is shown in the following table:
Number of Shares
Balance at January 1, 2022— 
Granted208,881 
Vested— 
Forfeited(61,411)
Balance at December 31, 2022147,470 
Granted824,288 
Vested(971,758)
Forfeited— 
Balance at December 31, 2023— 
Summary of Share-Based Payment Arrangement, Outstanding Award, Activity, Excluding Option
A summary of the activity for the Employees Earnout Shares for the years ended December 31, 2023 and 2022 is shown in the following tables:
Year Ended December 31,
20232022
Outstanding at beginning of year1,417,632 1,602,435 
Granted— — 
Forfeited(16,568)(184,803)
Outstanding at end of year1,401,064 1,417,632