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Equity Incentive Plans (Tables)
 12 Months Ended
Dec. 31, 2023
Disclosure of Compensation Related Costs, Share-based Payments [Abstract]  
Summary of Restricted Stock Unit Activities
The following summarizes restricted stock unit activities for the year ended December 31, 2023.
 
    
Number of
Restricted
Stock Units
     
Weighted
Average
Grant-Date
Fair Value of
Restricted
Stock Units
  
Outstanding at January 1, 2023
      815,407      $ 14.36  
Granted
      1,228,484        9.76  
Vested
      (534,945 )       12.40  
Forfeited
      (502,579 )       10.22  
  
 
 
     
 
 
  
Outstanding at December 31, 2023
      1,006,367      $ 11.85  
  
 
 
     
 
 
  
Summary of Stock Option Activities
The following summarizes stock option activities for the year ended December 31, 2023. At the date of grant, all options had an exercise price not less than the fair value of common stock (aggregate intrinsic value in thousands):
 
    
Number of
Options
    
Weighted
Average
Exercise
Price of
Stock
Options
     
Aggregate
Intrinsic
Value of
Stock
Options
     
Weighted

Average

Remaining

Contractual
Life of
Stock
Options
  
Outstanding at January 1, 2023
      1,137,558     $ 10.64      $ 1,702        2.3 years  
Expired
      (330,700 )      17.37        —         —   
Exercised
      (4,000 )      6.92      $ 13        —   
  
 
 
          
Outstanding at December 31, 2023
      802,858     $ 7.89      $ 459        2.0 years  
  
 
 
          
Vested and Exercisable at December 31, 2023
      802,858     $ 7.89      $ 459        2.0 years  
  
 
 
          
There were no compensation expenses recorded for the stock options for the years ended December 31, 2023, 2022 and 2021.