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Stock-Based Compensation (Tables)
12 Months Ended
Dec. 31, 2023
Stock-Based Compensation  
Schedule of stock based compensation expense categories in statement of operations The Company recorded stock-based compensation expense in the following expense categories of its accompanying consolidated statements of operations and comprehensive loss (in thousands):

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Year ended December 31, 

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2023

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2022

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2021

Sales and marketing

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$

1,824

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$

1,373

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$

961

General and administrative

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2,478

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2,029

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1,542

Research and development

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730

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587

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1,158

Total stock‑based compensation

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$

5,032

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$

3,989

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$

3,661

Schedule of stock option activity

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Weighted

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average

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Weighted

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remaining

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Number of

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average exercise

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contractual term

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shares

    

price per share

    

(years)

Outstanding at January 1, 2021

 

1,498,208

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$

10.87

 

  

Granted

 

468,000

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14.80

 

  

Exercised

 

(77,154)

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7.08

 

  

Canceled/forfeited

 

(182,645)

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13.08

 

  

Outstanding at December 31, 2021

 

1,706,409

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$

11.88

 

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Granted

 

450,410

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10.24

 

  

Exercised

 

(3,563)

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5.51

 

  

Canceled/forfeited

 

(81,408)

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13.13

 

  

Outstanding at December 31, 2022

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2,071,848

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$

11.49

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Granted

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212,960

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​

10.50

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Exercised

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(25,428)

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5.00

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Canceled/forfeited

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(96,927)

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11.25

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Outstanding at December 31, 2023

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2,162,453

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$

11.48

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6.26

Vested and expected to vest at December 31, 2023

 

2,131,840

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$

11.48

 

6.23

Exercisable at December 31, 2023

 

1,606,779

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$

11.50

 

5.50

Schedule of activity relating to early exercise of stock options

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Number of

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shares

Unvested balance at January 1, 2021

 

182

Vested

 

(153)

Unvested balance at December 31, 2021

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29

Vested

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(29)

Unvested balance at December 31, 2022

 

—

Schedule of weighted average assumptions

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Year ended December 31, 

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2023

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2022

    

2021

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Expected dividend yield

 

—

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—

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—

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Expected volatility

 

74.3

%

69.6

%

63.9

%

Risk‑free interest rate

 

3.99

%

2.55

%

0.99

%

Expected term (in years)

 

6.15

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6.20

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6.15

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Schedule of restricted stock units (RSUs)

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Number of

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shares

Outstanding at January 1, 2021

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—

Granted

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194,232

Vested

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(12,000)

Canceled/forfeited

​

(19,189)

Outstanding at December 31, 2021

​

163,043

Granted

​

197,950

Vested

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(40,783)

Canceled/forfeited

​

(8,219)

Outstanding at December 31, 2022

​

311,991

Granted

​

729,734

Vested

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(101,559)

Canceled/forfeited

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(32,963)

Outstanding at December 31, 2023

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907,203