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Stockholders' Equity and Stock-based Compensation Expense (Tables)
 3 Months Ended
Mar. 31, 2024
Share-Based Payment Arrangement [Abstract]  
Schedule of Activity under the 2019 Plan
Activity under the Company's equity incentive plans is summarized as follows:
Shares Available
for Grant
Balance, December 31, 20233,554,537 
Additional shares reserved— 
Options and stock awards granted
(649,500)
Stock awards canceled / forfeited / expired32,396 
Options canceled / forfeited / expired43,582 
Balance, March 31, 20242,981,015 
Options Outstanding
Number of Stock Options Outstanding
Weighted Average Exercise Price
Weighted Average Remaining Term
 (in Years)
Balance, December 31, 20231,282,240 $17.97 8.21
Options granted520,000 $2.11 
Options exercised— $— 
Options canceled / forfeited / expired(43,582)$33.88 
Balance, March 31, 20241,758,658 $12.89 7.87
Stock Awards Outstanding
Number of Awards OutstandingWeighted Average Grant Date Fair Value per Share
Balance, December 31, 2023909,862$20.46 
Stock awards granted
110,000$2.11 
Awards vested
(137,583)$25.53 
Stock awards canceled / forfeited / expired(32,396)$27.11 
Balance, March 31, 2024849,883$18.14 
Schedule of Stock-based Compensation Expense
Stock-based compensation expense by financial statement line item recognized during the three months ended March 31, 2024 and 2023 was as follows (in thousands):
Three Months Ended
March 31,
20242023
Cost of revenue$149 $364 
Sales and marketing567 1,148 
Research and development305 693 
General and administrative1,088 1,181 
Total stock-based compensation expense$2,109 $3,386