Employee stock-based compensation cost recognized in the consolidated statements of loss and comprehensive loss was as follows:


	Three Months Ended June 30,				Six Months Ended June 30,
	2023		2022		2023		2022
	(in thousands)
Cost of revenue	$	520	$	272	$	980	$	521
Engineering, research, and development	1,020		1,638		2,673		2,502
Sales and marketing	823		1,207		1,878		1,878
General and administrative	4,790		13,270		14,879		20,147
Total stock-based compensation	$	7,153	$	16,387	$	20,410	$	25,048


	Number of Options	Weighted Average Exercise Price		Aggregate Intrinsic Value (in thousands)		Weighted Average Contractual Term (in years)
Options outstanding as of December 31, 2022	1,598,811	$	3.54	$	12,279	6.0
Options exercised	(32,795)	$	3.54
Options outstanding as of June 30, 2023	1,566,016	$	3.54	$	8,942	5.6

Options vested and exercisable as of June 30, 2023	1,519,130	$	3.54	$	8,674	5.5

The total unrecognized compensation expenses related to 2018 Plan options as of June 30, 2023 was $0.01 million to be expensed on a straight-line basis over 0.2 years.

As of June 30, 2023, 7.3 million shares were available for grant under 2020 Incentive Stock Plan (“2020 Plan”).


	Number of Options	Weighted Average Exercise Price		Aggregate Intrinsic Value (in thousands)		Weighted Average Contractual Term (in years)
Options outstanding as of December 31, 2022	3,003,611	$	13.22	$	3,883	8.3
Options granted	597,000	$	11.68
Options exercised	(2,123)	$	8.20
Options forfeited	(164,708)	$	15.51
Options expired	(14,639)	$	20.71
Options outstanding as of June 30, 2023	3,419,141	$	12.82	$	1,337	7.8

Options vested and exercisable as of June 30, 2023	1,415,499	$	10.90	$	1,069	6.6

The Company elected the policy to account for forfeitures as these occur. The total unrecognized compensation expenses related to 2020 Stock Plan options as of June 30, 2023 was $11.5 million to be expensed on a straight-line basis over the remaining 2.8 years.

RSUs granted do not participate in earnings, dividends, and do not have voting rights until vested.

The following table summarizes activity of the Company’s RSUs for the six months ended June 30, 2023:


	Number of Shares	Weighted Average Grant Date Fair Value
Unvested awards as of December 31, 2022	2,245,968	$	11.99
Awards granted	143,000	$	11.64
Awards vested and released	(989,969)	$	12.40
Awards forfeited	(101,883)	$	11.22
Unvested awards as of June 30, 2023	1,297,116	$	11.69

During the six months ended June 30, 2023 the Company net withheld and returned to the 2020 Plan pool 0.5 million shares to cover $5.3 million tax obligations for RSU releases. The total unrecognized compensation expenses related to 2020 Stock Plan RSUs as of June 30, 2023 was $12.9 million to be expensed on a straight-line basis over 1.0 years.

The following table summarizes activity of the Company's PSUs for the six months ended June 30, 2023:


	Number of Shares	Weighted Average Grant Date Fair Value
Unvested awards as of December 31, 2022	1,328,482	$	39.41
Awards granted	523,938	$	11.97
Awards vested and released	(1,328,482)	$	39.41
Awards forfeited	(32,375)	$	11.97
Unvested awards as of June 30, 2023	491,563	$	11.97

During first quarter of 2023, the Company withheld 0.7 million shares to cover the $8.1 million tax obligations related to the release of vested 2022 PSU shares certified at 256% performance goal achievement on February 21, 2023. The total estimated