Stockholders' Equity (Tables)

12 Months Ended

Dec. 31, 2022

Stockholders' Equity Note [Abstract]

Schedule of Stock Options Activity

A summary of the stock option activity under the Company's equity incentive plans is presented below:

	Number of Shares(1)	Weighted Average Exercise Price(1)		Weighted Average Remaining Term	Aggregate Intrinsic Value
Balance as of December 31, 2021	4,560	$	6.29	3.07	$	2,670
Granted	2,365	4.78
Exercised	(412)	0.96
Forfeited	(360)	5.79
Expired	(2,177)	5.92
Balance as of December 31, 2022	3,976	$	6.20	3.80	$	—
Expected to vest at December 31, 2022	3,976	$	6.20	3.80	$	—
Exercisable at December 31, 2022	3,275	$	6.34	2.70	$	—

Schedule of Fair Value of Stock Option Awards Valuation Assumptions

The fair value of stock option awards is estimated on the date of grant using the Black-Scholes option-pricing model based upon the following range of assumptions:

	2022	2021	2020
Exercise price	$1.17 – $5.31	$8.99 –$9.25	$7.48 – $8.33
Expected dividend yield	0%	0%	0%
Expected volatility	48% –93%	45% – 48%	41% –46%
Expected term (years)	1.00– 6.20	5.00 – 6.07	5.55 – 6.07
Risk free interest rate	1.86% – 3.95%	0.80% – 1.04%	0.26% – 1.17%

Schedule of RSU Activity

A summary of RSU activity is presented below:

	Shares	Weighted Average Grant-Date Fair Value
Outstanding as of December 31, 2021	5,235	$	8.88
Granted	8,125	3.12
Vested	(4,617)	8.21
Forfeited	(1,248)	5.65
Outstanding as of December 31, 2022	7,495	$	3.59