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Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Summary of Shares Available for Issuance Under 2020 Plan

A summary of the shares available for issuance under the 2020 Plan is as follows:

 

 

 

Number of Shares

 

Balance at December 31, 2020

 

 

1,188

 

Authorized

 

 

547

 

Granted/Awarded

 

 

(674

)

Cancelled

 

 

21

 

Balance at December 31, 2021

 

 

1,082

 

Authorized

 

 

549

 

Granted/Awarded

 

 

(678

)

Cancelled

 

 

49

 

Balance at December 31, 2022

 

 

1,002

 
Summary of Option Award Activity

Option award activity under the 2020 Plan is set forth below:

 

 

 

Options Outstanding

 

 

 

Number of Shares

 

 

Weighted Average Exercise Price

 

 

Weighted Average Remaining Contractual Term (In Years)

 

 

Aggregate Intrinsic Value

 

Outstanding at December 31, 2020

 

 

—

 

 

$

—

 

 

 

—

 

 

$

—

 

Options granted

 

 

674

 

 

$

7.59

 

 

 

 

 

 

 

Options exercised

 

 

—

 

 

$

—

 

 

 

 

 

 

 

Options cancelled

 

 

(21

)

 

$

8.27

 

 

 

 

 

 

 

Outstanding at December 31, 2021

 

 

653

 

 

$

7.57

 

 

 

9.3

 

 

$

—

 

Options granted

 

 

592

 

 

$

6.19

 

 

 

 

 

 

 

Options exercised

 

 

—

 

 

$

—

 

 

 

 

 

 

 

Options cancelled

 

 

(43

)

 

$

6.88

 

 

 

 

 

 

 

Outstanding at December 31, 2022

 

 

1,202

 

 

$

6.91

 

 

 

8.7

 

 

$

—

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Vested and expected to vest at December 31, 2022

 

 

1,202

 

 

$

6.91

 

 

 

8.7

 

 

$

—

 

Vested and exercisable at December 31, 2022

 

 

431

 

 

$

7.49

 

 

 

8.4

 

 

$

—

 
Summary of Stock Options Outstanding and Vested

The following table summarizes information about stock options outstanding and vested as of December 31, 2022:

 

 

 

Options Outstanding

 

 

Options Vested

 

Exercise Price

 

Options Outstanding

 

 

Weighted Average Remaining Contractual Term (in Years)

 

 

Weighted Average Exercise Price

 

 

Number Exercisable

 

 

Weighted Average Exercise Price

 

$4.86 - $5.95

 

 

27

 

 

 

9.5

 

 

$

5.75

 

 

 

—

 

 

$

—

 

$6.04 - $6.04

 

 

428

 

 

 

9.0

 

 

$

6.04

 

 

 

—

 

 

$

—

 

$6.07 - $7.00

 

 

305

 

 

 

8.7

 

 

$

6.90

 

 

 

137

 

 

$

6.94

 

$7.08 - $8.27

 

 

369

 

 

 

8.2

 

 

$

7.68

 

 

 

253

 

 

$

7.61

 

$8.40 - $8.62

 

 

73

 

 

 

8.3

 

 

$

8.61

 

 

 

41

 

 

$

8.61

 

 

 

 

1,202

 

 

 

8.7

 

 

$

6.91

 

 

 

431

 

 

$

7.49

 
Summary of Fair Value of Employee and Non-Employee Stock Options was Estimated Using Assumptions The fair value of employee and non-employee stock options was estimated using the following assumptions for the years ended December 31, 2022 and 2021:

 

 

Year Ended December 31,

 

Year Ended December 31,

 

2022

 

2021

Risk-free interest rate

1.5 - 4.2%

 

0.6 - 1.3%

Expected term (years)

6

 

6

Expected volatility

70%

 

72 - 73%

Dividends

0.0%

 

0.0%

 
Summary of Total Stock-Based Compensation Expense Recognized

The following table sets forth the total stock-based compensation expense recognized under the 2020 Plan and the 2020 ESPP in the Company’s statements of operations:

 

 

 

Year Ended December 31,

 

 

 

2022

 

 

2021

 

Cost of revenue—product

 

$

219

 

 

$

216

 

Cost of revenue—service

 

 

126

 

 

 

122

 

Selling, general and administrative expenses

 

 

5,648

 

 

 

5,914

 

Research and development expenses

 

 

618

 

 

 

614

 

Total

 

$

6,611

 

 

$

6,866

 
Summary of Unrecognized Stock-based Compensation Expense Expected to be Amortized

Total unrecognized stock-based compensation expense is expected to be amortized as follows:

 

Fiscal Year

 

Amount

 

2023

 

 

4,224

 

2024

 

 

987

 

2025

 

 

635

 

2026

 

 

24

 

2027

 

 

—

 

Thereafter

 

 

—

 

Total unrecognized stock-based compensation expense

 

$

5,870

 
Restricted Stock Awards  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Summary of Restricted Stock Award Activity

Restricted stock award activity under the 2020 Plan is set forth below:

 

 

 

Restricted Stock Awards Outstanding

 

 

 

Number of
Units

 

 

Weighted-
average
grant-
date fair
value
 per share

 

Non-vested at December 31, 2020

 

 

2,050

 

 

$

10.30

 

Granted

 

 

—

 

 

$

—

 

Vested

 

 

(718

)

 

$

10.31

 

Cancelled

 

 

—

 

 

$

—

 

Non-vested at December 31, 2021

 

 

1,332

 

 

$

10.29

 

Granted

 

 

—

 

 

$

—

 

Vested

 

 

(704

)

 

$

10.29

 

Cancelled

 

 

(6

)

 

$

10.81

 

Non-vested at December 31, 2022

 

 

622

 

 

$

10.29

 
Restricted Stock Units  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Summary of Restricted Stock Award Activity

Restricted stock award activity under the 2020 Plan is set forth below:

 

 

 

Restricted Stock Units Outstanding

 

 

 

Number of
Units

 

 

Weighted-
average
grant-
date fair
value
 per share

 

Non-vested at December 31, 2021

 

 

—

 

 

$

—

 

Granted

 

 

86

 

 

$

6.33

 

Vested

 

 

—

 

 

$

—

 

Cancelled

 

 

—

 

 

$

—

 

Non-vested at December 31, 2022

 

 

86

 

 

$

6.33