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Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2023
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, 2021

 

 

1,082

 

Authorized

 

 

549

 

Granted/Awarded

 

 

(678

)

Cancelled

 

 

49

 

Balance at December 31, 2022

 

 

1,002

 

Authorized

 

 

555

 

Granted/Awarded

 

 

(1,380

)

Cancelled

 

 

117

 

Balance at December 31, 2023

 

 

294

 
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, 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

 

 

$

—

 

Options granted

 

 

834

 

 

$

2.98

 

 

 

 

 

 

 

Options exercised

 

 

—

 

 

$

—

 

 

 

 

 

 

 

Options cancelled

 

 

(62

)

 

$

5.01

 

 

 

 

 

 

 

Outstanding at December 31, 2023

 

 

1,974

 

 

$

5.31

 

 

 

8.0

 

 

$

429

 

 

 

 

 

 

 

 

 

 

 

 

 

Vested and expected to vest at December 31, 2023

 

 

1,974

 

 

$

5.31

 

 

 

8.0

 

 

$

429

 

Vested and exercisable at December 31, 2023

 

 

960

 

 

$

6.48

 

 

 

7.2

 

 

$

42

 
Summary of Stock Options Outstanding and Vested

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

 

$2.15 - $3.10

 

 

361

 

 

 

9.0

 

 

$

2.66

 

 

 

—

 

 

$

—

 

$3.23

 

 

436

 

 

 

9.1

 

 

$

3.23

 

 

 

149

 

 

$

3.23

 

$3.27 - $5.95

 

 

32

 

 

 

8.6

 

 

$

5.42

 

 

 

10

 

 

$

5.78

 

$6.04

 

 

415

 

 

 

8.0

 

 

$

6.04

 

 

 

199

 

 

$

6.04

 

$6.07 - $8.62

 

 

730

 

 

 

6.7

 

 

$

7.44

 

 

 

602

 

 

$

7.45

 

 

 

 

1,974

 

 

 

8.0

 

 

$

5.31

 

 

 

960

 

 

$

6.48

 
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, 2023 and 2022:

 

Year Ended December 31,

 

Year Ended December 31,

 

2023

 

2022

Risk-free interest rate

3.5 - 4.7%

 

1.5 - 4.2%

Expected term (years)

6

 

6

Expected volatility

57 - 70%

 

70%

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,

 

 

 

2023

 

 

2022

 

Revenue—product

 

$

10

 

 

$

—

 

Cost of revenue—product

 

 

289

 

 

 

219

 

Cost of revenue—service

 

 

168

 

 

 

126

 

Selling, general and administrative expenses

 

 

4,495

 

 

 

5,648

 

Research and development expenses

 

 

577

 

 

 

618

 

Total

 

$

5,539

 

 

$

6,611

 
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

 

2024

 

$

2,069

 

2025

 

 

1,006

 

2026

 

 

215

 

2027

 

 

7

 

2028

 

 

—

 

Thereafter

 

 

—

 

Total unrecognized stock-based compensation expense

 

$

3,297

 
Restricted Stock Awards  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Summary of Restricted Stock 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, 2021

 

 

1,332

 

 

$

10.29

 

Granted

 

 

—

 

 

$

—

 

Vested

 

 

(704

)

 

$

10.29

 

Cancelled

 

 

(6

)

 

$

10.81

 

Non-vested at December 31, 2022

 

 

622

 

 

$

10.29

 

Granted

 

 

—

 

 

$

—

 

Vested

 

 

(616

)

 

$

10.29

 

Cancelled

 

 

(6

)

 

$

10.81

 

Non-vested at December 31, 2023

 

 

—

 

 

$

—

 
Restricted Stock Units  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Summary of Restricted Stock 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, 2021

 

 

—

 

 

$

—

 

Granted

 

 

86

 

 

$

6.33

 

Vested

 

 

—

 

 

$

—

 

Cancelled

 

 

—

 

 

$

—

 

Non-vested at December 31, 2022

 

 

86

 

 

$

6.33

 

Granted

 

 

546

 

 

$

2.73

 

Vested

 

 

(113

)

 

$

4.14

 

Cancelled

 

 

(36

)

 

$

2.65

 

Non-vested at December 31, 2023

 

 

483

 

 

$

3.04