Stock Compensation Plans (Tables)

12 Months Ended

Dec. 31, 2023

Share-Based Payment Arrangement [Abstract]

Schedule of Valuation Assumptions

For market-based restricted stock units granted during 2023, 2022 and 2021 valued using the Monte Carlo Simulation valuation model, we used the following assumptions:

	Year ended December 31
	2023		2022		2021
Risk-free interest rate	4.5	%	2.0	%	0.2	%
Expected dividend yield	—	%	—	%	—	%
Term	2.97 years		3 years		3 years
Expected volatility	56.3	%	42.5	%	45.0	%

Schedule of Stock Option Activity

A summary of stock option activity and weighted average exercise prices follows:

	Options	Weighted- Average Exercise Price		Weighted-Average Remaining Contractual Term (Years)	Aggregate Intrinsic Value as of December 31, 2023
Outstanding at January 1, 2023	22,667	$	52.39
Granted	—	—
Forfeited	—	—
Exercised	—	—
Expired	(12,166)	53.08
Outstanding at December 31, 2023	10,501	$	51.58	0.85	$	—
Options exercisable at December 31, 2023	10,501	$	23.16	0.03	$	423,093

Schedule of Restricted Stock Activity

The following table summarizes the restricted stock and restricted stock unit activity and weighted-average grant date fair values for the year ended December 31, 2023:

	Shares	Weighted-Average Grant Date Fair Value
Non-vested at January 1, 2023	577,935	$	61.86
Granted	1,235,972	24.26
Forfeited	(160,676)	53.48
Vested	(195,813)	53.13
Non-vested at December 31, 2023	1,457,418	$	32.06

Schedule of Share-based Payment Arrangement, Expensed and Capitalized, Amount

The following table summarizes total stock-based compensation expense for each of the line items on our consolidated statement of operations:

	Years ended December 31,
	2023		2022		2021
Cost of Sales
Product	$	1,150	$	889	$	566
Service	185		161		69
Total cost of sales	1,335		1,050		635
Operating Expenses
Selling, general and administrative	14,198		9,656		8,985
Research and development	2,300		2,611		1,836
Total operating expenses	16,498		12,267		10,821
Total stock-based compensation	$	17,833	$	13,317	$	11,456