For example, if you have an underdeveloped prefrontal cortex then you are going to be more impulsive and have a hard time delaying gratification. These people are way more susceptible to committing crimes and it is purely down to bad luck that they weren't born with the right genes (or had some sort of injury that damaged their PFC). Another example is if you have a smaller amygdala, you're going to have a higher pain tolerance and experience less fear than someone with a normal sized amygdala. Again, this can change your behavior quite a bit as you won't be able to relate to what the average person experiences when they are in pain. These people will have less moral compass than others.
With those things in mind, Sapolsky agrees that if an individual poses a threat to others, we should still lock them in prison for the good of society. But the more we understand what leads to human behavior, the more we're going to realize how many things are out of our control (almost all of it).