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Common Stock and Stock-Based Compensation (Tables)
 6 Months Ended
Jun. 30, 2022
Share-Based Payment Arrangement [Abstract]  
Summary of stock options, RSU and PSU activity
A summary of stock option, RSU and PSU activity under the 2014 Plan during the six months ended June 30, 2022 and 2021 is presented below:
 Stock OptionsRSUsPSUs
Outstanding as of December 31, 20203,331,890 328,396 97,750 
Granted106,000 106,600 159,000 
Stock options exercised/RSUs vested/PSUs vested(94,328)(94,273)— 
Forfeited or expired(283,998)(29,796)(97,750)
Outstanding as of June 30, 20213,059,564 310,927 159,000 
Outstanding as of December 31, 20212,814,878 263,306 137,300 
Granted91,700 148,000 228,200 
Stock options exercised/RSUs vested/PSUs vested(62,321)(101,898)— 
Forfeited or expired(40,044)(7,082)— 
Outstanding as of June 30, 20222,804,213 302,326 365,500 
Fair value of stock options
The fair value of stock options granted to employees, directors, and consultants were estimated using the following assumptions:
Three Months Ended
June 30, 		Six Months Ended 
 June 30,
2022202120222021
Risk-free interest rate
3.00% - 3.31%
1.01% - 1.12%
1.47% - 3.31%
0.51% - 1.12%
Volatility48.42%55.66%46.88%56.10%
Expected term (in years)6.08 years5.96 years5.65 years5.67 years
Expected dividend yield0.0%0.0%0.0%0.0%
Share-based payment arrangement, cost by plan
We recognized stock-based compensation in our condensed consolidated statements of operations for the three and six months ended June 30, 2022 and 2021 as follows:
Three Months Ended June 30, Six Months Ended June 30,
2022202120222021
Stock options $1,671 $2,547 $3,534 $5,878 
RSUs1,289 1,217 2,924 3,005 
PSUs1,540 517 2,337 1,906 
Stock-based compensation expense $4,500 $4,281 $8,795 $10,789 
Selling, general and administrative$3,899 $3,640 $7,551 $9,253 
Research and development601 641 1,244 1,536 
Stock-based compensation expense$4,500 $4,281 $8,795 $10,789