Stock-Based Compensation (Tables)

12 Months Ended

Dec. 31, 2023

Share Based Compensation Arrangement By Share Based Payment Award [Line Items]

Summary of Stock Option Activity

The following is a summary of stock option activity for the year ended December 31, 2023:

	Number Outstanding			Average Exercise Price per Share		Weighted Average Remaining Contractual Term (Years)		Aggregate Intrinsic Value
Balance as of January 1, 2023		505,593		$	5.05		3.17	$	1,280,805
Granted		—			—				—
Cancelled or Expired		(10,633	)		8.20				—
Exercised		—			—				—
Balance as of December 31, 2023		494,960		$	4.99		2.23	$	1,725,985
Vested or expected to vest as of December 31, 2023		494,960		$	4.99		2.23	$	1,725,985
Exercisable as of December 31, 2023		494,960		$	4.99		2.23	$	1,725,985

Summary Information about Stock Options Outstanding

The following table summarizes information about stock options outstanding as of December 31, 2023:

	Stock Options Outstanding						Stock Options Exercisable
Range of Exercise Prices	Number Outstanding		Weighted Average Remaining Contractual Life (Years)		Weighted Average Exercise  Price		Number Exercisable		Weighted Average Exercise Price
$4.36 - $7.50		446,460		2.42	$	4.37		446,460	$	4.37
$8.80 - $13.20		48,500		0.46		10.63		48,500		10.63
$4.36 - $13.20		494,960		2.23	$	4.99		494,960	$	4.99

Summary of Stock Unit Activity

The following is a summary of RSU activity for the year ended December 31, 2023:

	Number Outstanding			Weighted Average Fair Value
Unvested as of January 1, 2023		819,185		$	13.23
Granted		411,635			6.79
Vested		(387,586	)		11.50
Forfeited		(113,172	)		9.00
Unvested as of December 31, 2023		730,062		$	11.17
RSUs vested but not released		59,866		$	10.82

Stock-Based Compensation Expense Related to Stock Options, RSUs and PSUs

The following table summarizes stock-based compensation expense related to stock options, RSUs, and PSUs included in the consolidated statements of comprehensive income (loss) (in thousands):

	Year Ended December 31,
	2023		2022		2021
Cost of revenue	$	195	$	192	$	183
Research and development		692		699		486
Selling and marketing		1,152		845		545
General and administrative		1,932		1,425		1,392
Total	$	3,971	$	3,161	$	2,606

Performance Stock Units

Share Based Compensation Arrangement By Share Based Payment Award [Line Items]

Summary of Stock Unit Activity

The following is a summary of PSU activity for the year ended December 31, 2023:

	Number Outstanding			Weighted Average Fair Value
Unvested as of January 1, 2023		40,000		$	8.51
Granted		—			—
Vested		(18,750	)		6.38
Forfeited		(21,250	)		10.38
Unvested as of December 31, 2023		—		$	—
PSUs vested but not released		18,750		$	6.38