Stockholders' Equity (Tables)

12 Months Ended

Dec. 31, 2023

Stockholders' Equity Note [Abstract]

Summary of Changes In Accumulated Other Comprehensive Loss by Component, Net of Tax

The table below summarizes the changes in accumulated other comprehensive loss by component, net of tax (in thousands):

	As of December 31,
	2023			2022
Beginning accumulated other comprehensive income	$	(4,662	)	$	(4,457	)
Actuarial gain (loss) for pension plan		(941	)		4,278
Foreign currency translation adjustments, net		(2,844	)		(4,483	)
Ending accumulated other comprehensive income	$	(8,447	)	$	(4,662	)

Summary of Option Activity under Stock Option Program

The following table sets forth the summary of option activity under the stock option program for the year ended December 31, 2023 (in thousands, except weighted average data):

	Options Outstanding			Weighted Average Exercise Price		Weighted Average Remaining Contractual Term		Aggregate Intrinsic Value
Outstanding at the beginning of the period		1,496		$	11.84		7.2	$	3,281
Granted		—			—
Exercised		(1	)		12.08
Canceled/Forfeited		(44	)		16.49
Expired		(176	)		11.70
Outstanding at the end of the period		1,275			11.70		6.25		—
Vested and exercisable at the end of the period		1,139		$	11.13		6.13	$	—

Summary of Assumptions Used to Value Options Granted for Stock Options

The following table summarizes the weighted average assumptions used to value options granted during the year ended December 31, 2022:

Expected term (years)		6.1
Volatility		58.9	%
Risk free interest rate		1.5	%
Dividend yield		0	%
Weighted average fair value of stock options	$	8.83

Summary of Restricted Stock Unit Awards Activity Under Stock Award Program

The following table sets forth the summary of restricted stock units activity under the stock option program for the year ended December 31, 2023 (in thousands, except weighted average data):

	RSU Outstanding			Weighted Average Grant Date Fair Value
Outstanding at the beginning of the period		2,673		$	16.07
Granted		272			10.71
Cancelled/Forfeited		(504	)		14.18
Vested and issued		(1,042	)		15.74
Outstanding at the end of the period		1,399			15.93
Vested and unissued at the end of the period		—			20.90
Non-vested at the end of the period		1,399		$	15.93

Summary of Stock Based Compensation Expense

The following table summarizes total stock-based compensation expense for stock options, restricted stock units, and ESPP (in thousands).

	Years ended December 31,
	2023		2022
Cost of revenue	$	1,211		801
Research and product development		3,944		4,857
Selling, marketing, general and administrative		10,688		10,144
	$	15,843	$	15,802