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Stock-Based Compensation (Tables)
 9 Months Ended
Sep. 30, 2022
Share-Based Payment Arrangement [Abstract]  
Schedule of non-cash stock-based compensation expense
Non-cash stock-based compensation expenses related to stock options, restricted stock grants and the ESPP were recorded in the financial statements as follows (unaudited, in thousands):
Three Months Ended September 30,Nine Months Ended September 30,
2022202120222021
Cost of sales$— $— $2 $1 
Sales and marketing179 238 915 663 
Research and development279 270 808 705 
General and administrative637 818 2,124 2,254 
Total non-cash stock compensation expense$1,095 $1,326 $3,849 $3,623 
Summary of outstanding stock options
A summary of the Company’s stock options outstanding and related information under the 2015 OEIP and 2005 Plan for the nine months ended September 30, 2022 are as follows (unaudited, in thousands except weighted average exercise price and weighted average remaining contractual life):
SharesWeighted Avg. Exercise PriceWtd. Avg. Remaining Contractual Life (Yrs)Aggregate Intrinsic Value
Outstanding as of December 31, 2021194 $4.12 $218 
Granted— $— $— 
Exercised(8)$2.15 $11 
Forfeited(1)$5.52 $— 
Expired(5)$6.80 $— 
Outstanding as of September 30, 2022180 $4.12 4.2$12 
Vested and expected to vest at September 30, 2022177 $4.10 4.2$12 
Exercisable as of September 30, 2022152 $4.00 3.6$10 
Summary of restricted stock awards outstanding
A summary of the Company’s restricted stock awards outstanding under the 2015 OEIP and 2005 Plan for the nine months ended September 30, 2022 are as follows (unaudited, in thousands, except weighted average grant date fair value):
SharesWeighted average
grant date
fair value
Unvested at December 31, 20211,668 $5.83 
Granted1,398 $3.76 
Vested(972)$4.92 
Canceled and forfeited(208)$6.08 
Unvested at September 30, 20221,886 $4.74