Stock-Based Incentive Compensation Plans (Tables)

9 Months Ended

Sep. 30, 2023

Share-Based Payment Arrangement [Abstract]

Schedule of Stock Option Activity

The table below summarizes the stock option activity for the nine months ended September 30, 2023:

	Number of Shares	Weighted- Average Exercise Price
Outstanding as of December 31, 2022	1,903,341	$8.82
Exercised	(670,494)	6.36
Canceled and forfeited	(16,006)	21.22
Outstanding as of September 30, 2023	1,216,841	10.84

Schedule of Share-based Payment Award, Equity Instruments Other Than Options, Valuation Assumptions

The table below summarizes the assumptions used to estimate the grant date fair value of the PSUs granted:

	Nine Months Ended September 30,
	2023			2022
Expected volatility of common stock	58.0%	to	73.0%	48.9%	to	58.7%
Expected volatility of peer companies	33.0%	to	141.0%	24.2%	to	152.5%
Correlation coefficient of peer companies	(0.15)	to	1.00	(0.13)	to	1.00
Risk-free interest rate	3.9%	to	5.0%	0.4%	to	1.2%
Dividend yield	—%	to	1.3%	—%	to	1.0%

Schedule of Restricted Stock Unit Activity

The table below summarizes RSU and PSU activity for the nine months ended September 30, 2023:

	RSUs		PSUs
	Number of Shares	Weighted Average Grant Date Fair Value	Number of Shares	Weighted Average Grant Date Fair Value
Outstanding as of December 31, 2022	1,794,928	$22.72	155,596	$19.50
Granted	1,204,086	16.85	255,458	12.33
Vested	(727,721)	20.99	(25,932)	19.50
Canceled and forfeited	(155,208)	21.46	—	—
Outstanding as of September 30, 2023	2,116,085	20.07	385,122	14.74

Schedule of Performance-based Restricted Stock Unit Activity Arrangement

The table below summarizes RSU and PSU activity for the nine months ended September 30, 2023:

	RSUs		PSUs
	Number of Shares	Weighted Average Grant Date Fair Value	Number of Shares	Weighted Average Grant Date Fair Value
Outstanding as of December 31, 2022	1,794,928	$22.72	155,596	$19.50
Granted	1,204,086	16.85	255,458	12.33
Vested	(727,721)	20.99	(25,932)	19.50
Canceled and forfeited	(155,208)	21.46	—	—
Outstanding as of September 30, 2023	2,116,085	20.07	385,122	14.74

Schedule of Stock-Based Compensation

The table below presents the detail of stock-based compensation expense amounts included in the condensed consolidated statements of operations:

	Three Months Ended September 30,				Nine Months Ended September 30,
	2023		2022		2023		2022
	(in thousands)
Cost of goods sold	$	172	$	121	$	471	$	360
Sales and marketing	2,655		2,836		8,267		8,177
Research and development	699		672		2,198		1,968
General and administrative	2,402		2,293		7,184		6,675
	$	5,928	$	5,922	$	18,120	$	17,180

Schedule of Warrants Issued and Outstanding

The table below summarizes common stock warrants activity for the nine months ended September 30, 2023:

Date		Outstanding Balance at December 31, 2022	Price per Share		Warrants Issued	Warrant Exercised	Warrant Expired	Outstanding Balance at September 30, 2023
Issuance	Expiration
3/1/2017	3/1/2027	1,388	$	5.94	—	—	—	1,388
7/22/2013	7/22/2023	32,983	$	9.10	—	(32,983)	—	—
11/26/2014	11/26/2024	6,680	$	16.47	—	—	—	6,680
10/20/2015	10/20/2025	41,650	$	16.47	—	—	—	41,650
11/9/2015	11/9/2025	25,709	$	16.47	—		—	25,709
12/22/2016	12/22/2026	9,712	$	10.03	—	—	—	9,712
		118,122			—	(32,983)	—	85,139