Stock-Based Compensation (Tables)

12 Months Ended

Dec. 31, 2023

Schedule of stock option activity

				Weighted-
		Weighted-		Average
	Number of	Average		Remaining
	Shares in	Exercise		Contractual
	(in thousands)	Price		Life (in years)
Options outstanding as of December 31, 2021	13,384	$	2.38	5.71
Options granted	449		1.48
Options exercised	(974)		0.98
Options canceled/forfeited	(1,080)		2.52
Options outstanding as of December 31, 2022	11,779		2.45	5.07
Options granted	3,589		0.64
Options exercised	(6)		0.46
Options canceled/forfeited	(1,622)		1.22
Options outstanding as of December 31, 2023	13,740	$	2.12	5.18
Options vested and expected to vest as of December 31, 2023	13,740	$	2.12
Options exercisable as of December 31, 2023	10,638	$	2.52	3.97

Schedule of assumptions of Black-Scholes option pricing model

	For the year ended December 31,
	2023				2022
Expected term of options (in years)	6.0	-	6.5		6.5
Expected volatility rate	82.55	-	94.38	%	71.20	-	92.61	%
Risk-free interest rate	3.37	-	4.73	%	0.57	-	3.84	%
Expected dividend yield			0	%			0	%

Schedule of restricted stock award activity

				Weighted-
		Weighted-		Average
	Number of	Average		Remaining
	Shares in	Exercise		Contractual
	(in thousands)	Price		Life (in years)
RSU's outstanding as of December 31, 2021	12,756	$	0.82	2.44
Granted	7,863		1.17
Vested	(9,414)		0.77
Forfeited	(1,426)		1.08
RSU's outstanding as of December 31, 2022	9,779		1.10	2.19
Granted	13,633		0.74
Vested	(9,309)		0.89
Forfeited	(234)		0.97
RSU's outstanding as of December 31, 2023	13,869	$	0.89	2.29

Employee Stock Option [Member]

Schedule of employee stock-based compensation expense

	December 31,
	2023		2022
Cost of sales	$	46		41
Research and development		322		712
Selling, general and administrative		290		1,381
Total stock-based compensation	$	658	$	2,133

Restricted Stock Award

Schedule of employee stock-based compensation expense

	December 31,
	2023		2022
Cost of sales	$	63		31
Research and development		1,523		1,128
Selling, general and administrative		6,429		5,326
Total stock-based compensation	$	8,015	$	6,485