Stock-Based Compensation (Tables)

9 Months Ended

Sep. 30, 2021

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 nine months ended September 30, 2021:

	Number Outstanding			Average Exercise Price per Share		Weighted Average Remaining Contractual Term (Years)		Aggregate Intrinsic Value
Balance as of December 31, 2020		550,769		$	5.56		4.88	$	1,875,719
Granted		—			—
Cancelled or Expired		(4,642	)		21.39
Exercised		(18,651	)		7.94
Balance as of September 30, 2021		527,476		$	5.34		4.28	$	7,126,485
Vested or expected to vest as of     September 30, 2021		527,476		$	5.34		4.28	$	7,126,485
Exercisable as of September 30, 2021		527,476		$	5.34		4.28	$	7,126,485

Summary Information about Stock Options Outstanding

The following table summarizes information about stock options outstanding as of September 30, 2021:

	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 - $7.20		452,510		4.62	$	4.41		452,510	$	4.41
$7.50 - $11.25		61,317		2.48		10.19		61,317		10.19
$11.30 - $16.95		11,302		0.98		13.03		11,302		13.03
$19.70 - $29.55		2,347		0.36		20.98		2,347		20.98
$4.36 - $29.55		527,476		4.28	$	5.34		527,476	$	5.34

Summary of Stock Unit Activity

The following is a summary of RSU activity for the nine months ended September 30, 2021:

	Number Outstanding			Weighted Average Fair Value
Unvested as of December 31, 2020		682,563		$	4.34
Granted		258,277			14.03
Vested		(335,631	)		5.57
Forfeited		(71,788	)		4.43
Unvested as of September 30, 2021		533,421		$	8.25
RSUs vested but not released		291,514		$	5.13

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 income (loss) for the three and nine months ended September 30, 2021 and 2020 (in thousands):

	Three Months Ended September 30,				Nine Months Ended September 30,
	2021		2020		2021		2020
Cost of revenue	$	49	$	43	$	130	$	124
Research and development		109		159		364		506
Selling and marketing		155		127		382		371
General and administrative		259		462		1,151		1,181
Total	$	572	$	791	$	2,027	$	2,182

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 nine months ended September 30, 2021:

	Number Outstanding
Unvested as of December 31, 2020		200,000
Granted		—
Vested		(23,500	)
Forfeited		(1,500	)
Unvested as of September 30, 2021		175,000