Stock Compensation Plans (Tables)

12 Months Ended

Dec. 31, 2022

Share-Based Payment Arrangement [Abstract]

Schedule of Valuation Assumptions

For market-based restricted stock units granted during 2022, 2021 and 2020 valued using the Monte Carlo Simulation valuation model, we used the following assumptions:

	Year ended December 31
	2022		2021		2020
Risk-free interest rate	2.0	%	0.2	%	1.2	%
Expected dividend yield	—	%	—	%	—	%
Term	3 years		3 years		3 years
Expected volatility	42.5	%	45.0	%	40.0	%

Schedule of Stock Option Activity

A summary of stock option activity and weighted average exercise prices follows:

	Options	Weighted- Average Exercise Price		Weighted-Average Remaining Contractual Term (Years)	Aggregate Intrinsic Value as of December 31, 2022
Outstanding at January 1, 2022	44,524	$	56.11
Granted	—	—
Forfeited	(21,857)	59.97
Exercised	—	—
Outstanding at December 31, 2022	22,667	$	52.39	1.8	$	—
Options exercisable at December 31, 2022	22,667	$	52.39	0.2	$	—

Schedule of Restricted Stock Activity

The following table summarizes the restricted stock and restricted stock unit activity and weighted-average grant date fair values for the year ended December 31, 2022:

	Shares	Weighted-Average Grant Date Fair Value
Non-vested at January 1, 2022	350,579	$	79.11
Granted	446,701	50.66
Forfeited	(99,477)	68.02
Vested	(119,868)	65.45
Non-vested at December 31, 2022	577,935	$	61.86

Share-based Payment Arrangement, Expensed and Capitalized, Amount

The following table summarizes total stock-based compensation expense for each of the line items on our consolidated statement of operations:

	Years ended December 31,
	2022		2021		2020
Cost of Sales
Product	$	889	$	566	$	356
Service	161		69		346
Total cost of sales	$	1,050	$	635	$	702
Operating Expenses
Selling, general and administrative	$	9,656	$	8,985	$	6,327
Research and development	2,611		1,836		1,285
Total operating expenses	$	12,267	$	10,821	$	7,612
Total stock-based compensation	$	13,317	$	11,456	$	8,314