Stock-Based Compensation (Tables)

12 Months Ended

Dec. 31, 2022

Share-Based Payment Arrangement [Abstract]

Schedule of stock-based compensation expense of consolidated statements

Stock-based compensation expense is included in the following line items in the accompanying consolidated statements of operations for the years ended:

	December 31, 2022
(in thousands)		2022		2021		2020
Costs of goods sold		$	215	$	157	$	167
Sales and marketing		2,341		2,905		2,585
Research and development		2,640		1,923		1,376
General and administrative		10,395		5,934		4,341
Total stock-based compensation expense		$	15,591	$	10,919	$	8,470

Schedule of weighted-average assumptions for options granted

The following weighted-average assumptions were used in the calculation of fair value for stock options granted for the following periods:

	Year Ended December 31,
	2022		2021		2020
Expected term (in years)	6.01		5.88		5.88
Expected volatility	61.17	%	58.38	%	58.46	%
Risk free interest rate	2.31	%	1.02	%	0.49	%
Expected dividends	—	%	—	%	—	%

The following are the weighted average assumptions used in the valuation of ESPP options for the years ended December 31:

	Year Ended December 31,
	2022		2021		2020
Expected term (in years)	0.5		0.5		0.5
Expected volatility	66.5	%	48.0	%	81.4	%
Risk-free interest rate	1.1	%	0.10	%	1.0	%
Expected dividends	—	%	—	%	—	%

Schedule of stock option activity

The following table summarizes the Company's stock option activity for the year ended December 31, 2022:

	Options	Weighted Average Exercise Price		Weighted Average Remaining Contractual Life (Years)	Aggregate Intrinsic Value (in thousands)
Outstanding at December 31, 2021	3,194,738	$	15.65	6.45	$	2,236
Granted	1,228,920	$	9.20
Forfeited	(267,839)	$	14.98
Exercised	(260,963)	$	4.97
Outstanding at December 31, 2022	3,894,856	$	14.38	6.78	$	2,783
Exercisable at December 31, 2022	2,034,249	$	16.31	4.94	$	1,462

Schedule of stock unit activity

The following table summarizes the activity for restricted stock units for the indicated periods:

	Outstanding Restricted and Performance Stock Units
	Stock Units	Weighted Average Fair Value at Date of Grant per Share		Weighted Average Remaining Vesting Life (Years)	Aggregate Intrinsic Value (in thousands)
Unvested December 31, 2021	967,068	$	16.06	1.45	$	9,061
Granted	1,413,755	$	8.40
Released	(265,420)	$	13.48
Forfeited	(254,297)	$	12.24
Unvested December 31, 2022	1,861,106	$	11.13	1.60	$	18,574

The following table summarizes the activity for performance stock units for the indicated periods:

	Outstanding Restricted and Performance Stock Units
	Stock Units	Weighted Average Fair Value at Date of Grant per Share		Weighted Average Remaining Vesting Life (Years)	Aggregate Intrinsic Value (in thousands)
Unvested December 31, 2021	763,697	$	21.47	2.36	$	7,156
Granted	530,983	8.23
Released	(77,671)	18.08
Forfeited	(104,978)	16.08
Unvested December 31, 2022	1,112,031	$	15.90	1.86	$	11,098