I sm a multi-certified business coach, 30-year sales guy where I built/upgraded 8 teams as head of sales for as many startups. My answer is coming from a different perspective than the others. I have found that your question makes a number of assumptions that are important to state up front.
Assumption #1 - You have hired the best salespeople to sell your solution. They must be curious, empathetic and a great cultural fit - that is, they believe what you believe about what impact you are making in the world.
Assumption #2 - You have designed, developed and follow a proven sales playbook that continues to improve over time.
Assumption #3 - You have trained each to meet a minimum bar before they are autonomous.
Assumption #4 - You continually train them to improve in all aspects of the sales process - awareness, interest generation, qualification, needs analysis....closing and negotiating.
Assumption #5 - You hold them accountable for all of the above.
"Train (sales) people well enough so they can leave, treat them well enough so they don't want to" - Sir Richard Branson
This quote can guide you on next steps. The best salespeople I have come across are motivated by the intersection of money and fulfillment. If you hire, treat and train them well, the incentive plan will become obvious. As long as it also intersects the needs of the company, you have a winner or are at least approaching a winner.
My last bit of advice is to involve them in all of the above but do not ask them to solve the problem for you.
Feel free to reach out to talk further. No charge for the first call.