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Stock-Based Compensation (Tables)
12 Months Ended
Dec. 31, 2022
Stock-Based Compensation  
Schedule of stock based compensation expense categories in statement of operations

Year ended December 31, 

    

2022

2021

2020

Sales and marketing

$

1,373

$

961

$

696

General and administrative

 

2,029

 

1,542

 

1,030

Research and development

 

587

 

1,158

 

332

Total stock‑based compensation

$

3,989

$

3,661

$

2,058

Schedule of stock option activity

Weighted

average

Weighted

remaining

Number of

average exercise

contractual term

    

shares

    

price per share

    

(years)

Outstanding at January 1, 2020

 

1,420,942

$

10.35

 

  

Granted

 

175,086

 

15.03

 

  

Exercised

 

(27,783)

 

6.29

 

  

Canceled/forfeited

 

(70,037)

 

12.41

 

  

Outstanding at December 31, 2020

 

1,498,208

$

10.87

 

Granted

 

468,000

 

14.80

 

  

Exercised

 

(77,154)

 

7.08

 

  

Canceled/forfeited

 

(182,645)

 

13.08

 

  

Outstanding at December 31, 2021

1,706,409

11.88

Granted

450,410

10.24

Exercised

(3,563)

5.51

Canceled/forfeited

(81,408)

13.13

Outstanding at December 31, 2022

2,071,848

$

11.49

7.16

Vested and expected to vest at December 31, 2022

 

2,022,232

$

11.48

 

7.12

Exercisable at December 31, 2022

 

1,237,751

$

11.14

 

6.16

Schedule of activity relating to early exercise of stock options

Number of

    

shares

Unvested balance at January 1, 2020

 

755

Vested

(306)

Forfeited

(267)

Unvested balance at December 31, 2020

 

182

Vested

 

(153)

Unvested balance at December 31, 2021

29

Vested

(29)

Unvested balance at December 31, 2022

 

Schedule of weighted average assumptions

Year ended December 31, 

    

2022

 

2021

 

2020

Expected dividend yield

 

Expected volatility

 

69.6

%

63.9

%

59.1

%

Risk‑free interest rate

 

2.55

%

0.99

%

0.87

%

Expected term (in years)

 

6.20

6.15

5.98

Schedule of restricted stock units (RSUs)

The Company’s restricted stock units (“RSUs”) vest based on the terms in each award agreement and generally vest over four years. The following table summarizes restricted stock units for the Plan:

Number of

    

shares

Outstanding at January 1, 2021

Granted

194,232

Vested

(12,000)

Canceled/forfeited

(19,189)

Outstanding at December 31, 2021

163,043

Granted

197,950

Vested

(40,783)

Canceled/forfeited

(8,219)

Outstanding at December 31, 2022

311,991