Stock-Based Compensation (Tables)

6 Months Ended

Jun. 30, 2023

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, 2022		1,002
Authorized		555
Granted/Awarded		(1,368	)
Cancelled		68
Balance at June 30, 2023		257

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, 2022		1,202		$	6.91		8.7	$	—
Options granted		826		$	2.97
Options exercised		—		$	—
Options cancelled		(32	)	$	5.60
Outstanding at June 30, 2023		1,996		$	5.30		8.8	$	1,037
Vested and expected to vest at June 30, 2023		1,996		$	5.30		8.8	$	1,037
Vested and exercisable at June 30, 2023		710		$	7.01		8.1	$	23

Summary of Stock Options Outstanding and Vested

The following table summarizes information about stock options outstanding and vested as of June 30, 2023:

	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
$2.52 - $3.10		360		9.5	$	2.66		—	$	—
$3.23		455		9.9	$	3.23		22	$	3.23
$4.86 - $5.95		27		9.0	$	5.75		4	$	5.95
$6.04		418		8.5	$	6.04		148	$	6.04
$6.07 - $8.62		736		7.9	$	7.44		536	$	7.44
		1,996		8.8	$	5.30		710	$	7.01

Summary of Fair Value of Stock Options was Estimated Using Assumptions

The fair value of stock options was estimated using the following assumptions for the three and six months ended June 30, 2023 and 2022:

	Three Months Ended June 30,		Six Months Ended June 30,
	2023	2022	2023	2022
Risk-free interest rate	3.5 - 3.9%	2.5 - 3.0%	3.5 - 4.2%	1.5 - 3.0%
Expected term (years)	6	6	6	6
Expected volatility	70%	70%	70%	70%
Dividends	0.0%	0.0%	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 condensed statements of operations:

	Three Months Ended June 30,				Six Months Ended June 30,
	2023		2022		2023		2022
Cost of revenue – product	$	87	$	54	$	170	$	106
Cost of revenue – service		50		32		96		62
Selling, general and administrative expenses		1,498		1,397		2,924		2,774
Research and development expenses		189		154		360		302
Total	$	1,824	$	1,637	$	3,550	$	3,244

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
Remainder of 2023	$	1,910
2024		2,124
2025		1,005
2026		213
2027		5
Total unrecognized stock-based compensation expense	$	5,257

Restricted Stock Awards

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, 2022		622		$	10.29
Restricted stock awards granted		—		$	—
Restricted stock awards vested		(373	)	$	10.20
Restricted stock awards cancelled		(6	)	$	10.81
Non-vested at June 30, 2023		243		$	10.42

Restricted Stock Units

Summary of Restricted Stock Award Activity

Restricted stock unit 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, 2022		86		$	6.33
Restricted stock units granted		542		$	2.73
Restricted stock units vested		(41	)	$	6.65
Restricted stock units cancelled		(30	)	$	2.65
Non-vested at June 30, 2023		557		$	3.00