Stock Incentive Plan (Tables)

12 Months Ended

Dec. 31, 2022

Stock Incentive Plan

Stock option activity

	Options Outstanding
	Number of Shares Subject to Options			Weighted-Average Exercise Price
Balance at January 1, 2021		1,258,577		$	4.47
Granted		403,476			6.27
Forfeited		(115,151	)		6.49
Exercised		(2,913	)		6.00
Balance at December 31, 2021		1,543,989			4.78
Granted(1)		604,064			2.83
Forfeited(2)		(337,103	)		6.13
Exercised		(168,000	)		0.001
Balance at December 31, 2022		1,642,950			4.28
Unvested options outstanding expected to vest(3)		461,524			4.00

Options outstanding

Exercise Prices	Number of Shares Subject to Options Outstanding		Weighted-Average Remaining Contractual Term in Years		Number of Shares Subject to Options Fully Vested and Exercisable		Weighted-Average Remaining Contractual Term in Years
$0.001-$5.00		893,939		6.79		558,142		5.36
$5.01-$10.00		629,216		6.39		516,336		5.97
$10.01-$15.00		113,670		7.05		100,823		7.05
$15.01-$20.00		6,125		7.09		6,125		7.09
		1,642,950		6.65		1,181,426		5.78

Restricted stock unit activity

	Restricted Stock Units			Weighted-Average Grant Date Fair Value per Unit
Unvested balance at December 31, 2020		40,066		$	12.93
Granted		124,374			6.81
Vested		(49,758	)		8.04
Forfeited		(3,220	)		7.52
Unvested balance at December 31, 2021		111,462			8.44
Granted		403,522			2.80
Vested		(149,706	)		4.07
Forfeited		(92,628	)		4.01
Unvested Balance at December 31, 2022		272,650			4.00

Schedule of stock option grants and fair values

	Years Ended December 31,
	2022		2021
Stock options granted		604,064		403,476
Weighted-average grant date fair value per share	$	2.13	$	4.46
Fair value of shares vested	$	970,451	$	1,152,572