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Stockholders’ Equity (Tables)
 9 Months Ended
Sep. 30, 2024
Equity [Abstract]  
Schedule of Share-Based Compensation Expense The following table sets forth share-based compensation expense included in the condensed consolidated statements of operations:
Three Months Ended September 30,
(in thousands)
2024
2023
Cost of revenue$31 $26 
Research and development461 357 
Sales and marketing537 431 
General and administrative875 770 
Share-based compensation expense$1,904 $1,584 
Nine Months Ended September 30,
(in thousands)
2024
2023
Cost of revenue$82 $74 
Research and development1,204 1,009 
Sales and marketing1,482 1,277 
General and administrative2,436 2,176 
Share-based compensation expense$5,204 $4,536 

Share-based compensation expense by type of share-based award is summarized below:
Three Months Ended September 30,
(in thousands)
2024
2023
Stock options$151 $233 
RSAs and RSUs1,719 1,308 
ESPP34 43 
$1,904 $1,584 
Nine Months Ended September 30,
(in thousands)
2024
2023
Stock options$554 $747 
RSAs and RSUs4,495 3,612 
ESPP155 177 
$5,204 $4,536 
Total unrecognized compensation expense by type of award and the weighted-average remaining requisite holding period over which such expense is expected to be recognized is as follows (in thousands, unless otherwise noted):
September 30, 2024
Unrecognized ExpenseRemaining Weighted-Average Recognition Period (in years)
Stock options$446 1.13
RSAs and RSUs$9,548 1.85
Schedule of Stock Option Activity
Stock option activity during the nine months ended September 30, 2024 is summarized below:
Stock OptionsWeighted-average
Exercise price
per share		Weighted-average
Remaining Contractual Life (in years)
Intrinsic
Value(1)
(in thousands)
Outstanding at December 31, 20231,478,157 $8.40 
Exercised(12,000)$2.89 
Forfeited or expired(7,237)$42.19 
Outstanding at September 30, 20241,458,920 $8.28 4.74$8,187 
Exercisable at September 30, 20241,328,249 $8.19 4.40$7,911 
Vested and expected to vest at September 30, 20241,458,920 $8.28 4.74$8,187 
(1)Intrinsic value is calculated as the estimated fair value of the Company’s stock at the end of the related period less the option exercise price of in-the-money options.
Schedule of Restricted Stock Activity
Restricted stock award ("RSA") activity for the nine months ended September 30, 2024 is summarized below:
Restricted Stock AwardsWeighted - Average
Grant
Date Fair Value
Outstanding at December 31, 2023376,914 $12.02 
Vested(195,173)$12.93 
Forfeited(6,019)$12.35 
Outstanding at September 30, 2024175,722 $10.99 
Restricted Stock Unit Activity
Restricted stock unit ("RSU") activity for the nine months ended September 30, 2024 is summarized below:
Restricted Stock UnitsWeighted - Average
Grant
Date Fair Value
Outstanding at December 31, 2023768,139 $8.15 
Granted1,197,646 $6.16 
Vested(267,328)$7.99 
Forfeited(17,849)$8.40 
Outstanding at September 30, 20241,680,608 $6.75