Share-Based Payments (Tables)

12 Months Ended

Dec. 31, 2023

Share-Based Payment Arrangement [Abstract]

Schedule of Stock-based Compensation Expense

Stock-based compensation costs included in the consolidated statements of operations are presented below:

	Year Ended December 31,
	2023		2022		2021
Cost of products and services	$	72	$	110	$	161
Research and development	2,237		2,188		2,706
Selling, general and administrative	7,579		7,899		10,687
Discontinued operations	—		9		350
Total	$	9,888	$	10,206	$	13,904

Schedule of Stock Option Activity

Stock option activity was as follows:

	Number of Shares	Weighted Average Exercise Price		Weighted Average Remaining Contractual Term (Years)
Balances at December 31, 2020	11,255,896	$	15.53	7.25
Granted	2,058,820	7.59
Exercised	(127,883)	(4.75)
Forfeited	(305,293)	(7.02)
Expired	(621,353)	(24.61)
Balances at December 31, 2021	12,260,187	14.06		6.79
Granted	4,451,890	2.22
Exercised	(375)	(2.28)
Forfeited	(567,179)	(5.19)
Expired	(943,247)	(22.32)
Balances at December 31, 2022	15,201,276	10.41		6.87
Granted	7,847,869	1.19
Exercised	—	—
Forfeited	(275,250)	(2.65)
Expired	(716,555)	(20.41)
Balances at December 31, 2023	22,057,340	6.90		7.12
Exercisable at December 31, 2023	11,396,409	10.62		5.72

Schedule of Restricted Stock Unit Activity

RSU activity was as follows:

	Number of Restricted Stock Units	Weighted Average Grant Date Fair Value		Weighted Average Remaining Contractual Term (Years)
Balances at December 31, 2020	1,727,712	$	6.11	0.42
Granted	462,019	7.87
Vested	(1,624,013)	(5.76)
Forfeited	(97,237)	(8.96)
Balances at December 31, 2021	468,481	8.47		0.33
Granted	1,387,831	2.12
Vested	(1,125,785)	(4.29)
Forfeited	(32,712)	(7.26)
Balances at December 31, 2022	697,815	2.66		0.13
Granted	4,083,777	1.01
Vested	(3,820,058)	(1.27)
Forfeited	—	—
Balances at December 31, 2023	961,534	1.17		0.19