Stock-Based Compensation (Tables)

9 Months Ended

Sep. 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	(1,374)
Cancelled/Forfeited	90
Balance at September 30, 2023	273

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		831		$	2.98
Options exercised		—		$	—
Options cancelled/forfeited		(36	)	$	5.61
Outstanding at September 30, 2023		1,997		$	5.30		8.6	$	154
Vested and expected to vest at September 30, 2023		1,997		$	5.30		8.6	$	154
Vested and exercisable at September 30, 2023		840		$	6.70		8.0	$	—

Summary of Stock Options Outstanding and Vested

The following table summarizes information about stock options outstanding and vested as of September 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		359		9.3	$	2.66		—	$	—
$3.23		455		9.7	$	3.23		88	$	3.23
$3.27 - $5.95		32		8.9	$	5.40		8	$	5.81
$6.04		416		8.3	$	6.04		174	$	6.04
$6.07 - $8.62		735		7.7	$	7.44		570	$	7.45
		1,997		8.6	$	5.30		840	$	6.70

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 nine months ended September 30, 2023 and 2022:

	Three Months Ended September 30,		Nine Months Ended September 30,
	2023	2022	2023	2022
Risk-free interest rate	4.1 - 4.3%	2.7 - 3.4%	3.5 - 4.3%	1.5 - 3.4%
Expected term (years)	6	6	6	6
Expected volatility	57 - 70%	70%	57 - 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 September 30,				Nine Months Ended September 30,
	2023		2022		2023		2022
Revenue - product	$	5	$	—	$	5	$	—
Cost of revenue – product		64		57		234		163
Cost of revenue – service		38		33		134		95
Selling, general and administrative expenses		943		1,423		3,867		4,197
Research and development expenses		123		159		483		461
Total	$	1,173	$	1,672	$	4,723	$	4,916

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	$	793
2024		2,114
2025		1,005
2026		215
2027		6
Thereafter		—
Total unrecognized stock-based compensation expense	$	4,133

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		(541	)	$	10.30
Restricted stock awards cancelled		(6	)	$	10.81
Non-vested at September 30, 2023		75		$	10.20

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		544		$	2.73
Restricted stock units vested		(101	)	$	4.27
Restricted stock units cancelled		(36	)	$	2.65
Non-vested at September 30, 2023		493		$	3.05