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Stock incentive plans (Tables)
12 Months Ended
Dec. 31, 2022
Stock incentive plans [Abstract]  
Assumptions Used in Option Valuation Calculations
The table below indicates the key assumptions (on a weighted-average basis) used in the option valuation calculations for options granted in 2022 and 2021 and a discussion of our methodology for developing each of the assumptions used in the valuation model:

   
Year Ended December 31,
 
 
2022
   
2021
 
Expected option term (in years)
   
7.1
     
6.9
 
Expected volatility
   
51.3
%
   
50.5
%
Risk-free interest rate
   
2.2
%
   
1.2
%
Dividend yield
   
0.0
%
   
0.0
%
Stock Option Activity
Equity award activity in the 2005 Equity Incentive Plan and the 2014 Equity Incentive Plan is summarized below:

 
Stock Options
   
Restricted Stock Units
 
   
Number of Shares
   
Average Price*
   
Number of Units
   
Average Price**
 
Outstanding at December 31, 2021
   
1,269,355
   
$
9.18
     
155,225
   
$
10.28
 
Granted
   
181,100
     
8.16
     
129,700
     
8.78
 
Exercised
   
(17,500
)
   
6.70
     
(47,931
)
   
10.22
 
Forfeited
   
(49,250
)
   
9.38
     
(22,708
)
   
10.27
 
Expired
   
(27,750
)
   
8.51
     
     
 
Outstanding at December 31, 2022
   
1,355,955
   
$
9.08
     
214,286
   
$
9.28
 

*
weighted average exercise price per share
**
weighted average grant stock price per share
Equity Awards Vested and Expected to Vest
The following summarizes information about equity awards outstanding that are vested and expect to vest and equity awards that are exercisable at December 31, 2022:

 
Equity Awards Vested and Expected to Vest
   
Equity Awards That Are Exercisable
 
   
Awards
   
Average Price*
   
Aggregate Intrinsic Value
   
Remaining Term**
   
Awards
   
Average Price*
   
Aggregate Intrinsic Value
   
Remaining Term**
 
Stock Options
   
1,355,955
   
$
9.08
   
$
224
     
5.0
     
971,865
   
$
9.23
   
$
93
     
3.7
 
Restricted stock units
   
145,687
     
     
921
     
2.1
     
     
     
     
 

*
weighted average exercise price per share
**
weighted-average contractual remaining term in years