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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):

Year ended December 31, 

    

2023

2022

2021

Sales and marketing

$

1,824

$

1,373

$

961

General and administrative

 

2,478

 

2,029

 

1,542

Research and development

 

730

 

587

 

1,158

Total stock‑based compensation

$

5,032

$

3,989

$

3,661

Schedule of stock option activity

Weighted

average

Weighted

remaining

Number of

average exercise

contractual term

    

shares

    

price per share

    

(years)

Outstanding at January 1, 2021

 

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

Granted

212,960

10.50

Exercised

(25,428)

5.00

Canceled/forfeited

(96,927)

11.25

Outstanding at December 31, 2023

2,162,453

$

11.48

6.26

Vested and expected to vest at December 31, 2023

 

2,131,840

$

11.48

 

6.23

Exercisable at December 31, 2023

 

1,606,779

$

11.50

 

5.50

Schedule of activity relating to early exercise of stock options

Number of

    

shares

Unvested balance at January 1, 2021

 

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, 

    

2023

2022

    

2021

Expected dividend yield

 

Expected volatility

 

74.3

%

69.6

%

63.9

%

Risk‑free interest rate

 

3.99

%

2.55

%

0.99

%

Expected term (in years)

 

6.15

6.20

6.15

Schedule of restricted stock units (RSUs)

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

Granted

729,734

Vested

(101,559)

Canceled/forfeited

(32,963)

Outstanding at December 31, 2023

907,203