Stock-Based Compensation (Tables)

3 Months Ended

Mar. 31, 2021

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

Summary of Activity for Stock Option Plans

A summary of activity for the Company’s stock option plans for the three months ended March 31, 2021 is as follows:

	Number Outstanding			Average Exercise Price per Share		Weighted Average Remaining Contractual Term (Years)		Aggregate Intrinsic Value
Balance at December 31, 2020		550,769		$	5.56		4.88	$	1,875,719
Granted		—			—
Cancelled or Expired		(292	)		14.40
Exercised		(5,254	)		6.50
Balance at March 31, 2021		545,223		$	5.53		4.68	$	3,318,621
Vested or expected to vest at     March 31, 2021		545,223		$	5.53		4.68	$	3,318,621
Exercisable at March 31, 2021		545,223		$	5.53		4.68	$	3,318,621

Summary Information about Options Outstanding

The following table summarizes information about options outstanding as of March 31, 2021:

	Options Outstanding						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 - $7.20		458,510		5.09	$	4.43		458,510	$	4.43
$7.50 - $11.25		66,544		2.94		10.04		66,544		10.04
$11.30 - $16.95		13,472		1.43		12.86		13,472		12.86
$17.60 - $26.40		6,697		0.49		21.55		6,697		21.55
$4.36 - $26.40		545,223		4.68	$	5.53		545,223	$	5.53

Summary of Stock Unit Activity

The following is a summary of RSU activity for the three months ended March 31, 2021:

	Number Outstanding			Weighted Average Fair Value
Unvested at December 31, 2020		682,563		$	4.34
Granted		82,151			11.18
Vested		(124,558	)		5.32
Forfeited		(7,063	)		2.93
Unvested at March 31, 2021		633,093		$	5.05
Shares vested but not released		344,726		$	5.08

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 condensed consolidated statements of comprehensive loss for the three months ended March 31, 2021 and 2020 (in thousands):

	Three Months Ended March 31,
	2021		2020
Cost of revenue	$	33	$	40
Research and development		162		174
Selling and marketing		103		126
General and administrative		460		300
Total	$	758	$	640

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 three months ended March 31, 2021:

	Number Outstanding
Unvested at December 31, 2020		200,000
Granted		—
Vested		(20,000	)
Forfeited		—
Unvested at March 31, 2021		180,000