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Equity Incentive Plans | 9 Months Ended
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Sep. 30, 2022
Share-Based Payment Arrangement [Abstract] |
Equity Incentive Plans | Equity Incentive Plans The Company has outstanding awards granted under four equity compensation plans: the 2021 Equity Incentive Plan (the “Plan”), the Legacy Aurora 2017 Equity Incentive Plan (the “2017 Plan”), the Blackmore Sensors & Analytics, Inc. 2016 Equity Incentive Plan (the “Blackmore Plan”), and the OURS Technology Inc 2016 Stock Incentive Plan (the “OURS Plan”). The Company assumed awards under the 2017 Plan, the Blackmore Plan and the OURS Plan to the extent such employees continued as employees of the Company. On November 2, 2021, the Company adopted the Plan. The Plan makes available for issuance Class A common shares equal to 120,900,000 shares plus any shares subject to awards assumed in the Merger that are forfeited or otherwise expire after the Closing. Additionally, the Plan includes an annual increase on the first day of each fiscal year beginning in fiscal 2022 and ending in fiscal 2031 equal to the lesser of (i) 120,900,000, (ii) 5% of total shares outstanding on the last day of the preceding fiscal year, and (iii) a lesser number of shares determined by the Plans’ administrator. Any stock options, restricted stock units (“RSU”s) or other awards from the 2017 Plan, the Blackmore Plan, or the OURS Plan that, on or after the Closing, expire or otherwise terminate without having been exercised or issued in full are added to the Plan up to a maximum of 120,692,205 shares. As of September 30, 2022, there were 82,078,448 shares available for grant under the Plan. Under the Plan, equity-based compensation in the form of RSUs, restricted stock awards, incentive stock options, nonqualified stock options, stock appreciation rights, and performance units may be granted to employees, officers, directors, consultants, and others. Stock Options The exercise price of stock options granted under the Plan and the 2017 Plan may not be less than 100% of the fair value of the Company’s common stock on the date of the grant. Stock options generally vest over one to four years starting on the vesting commencement date and expire, if not exercised, 10 years from the date of grant or, if earlier, three months after the option holder ceases to be a service provider of the Company. Stock options outstanding under the Blackmore Plan and the OURS Plan are not material. Stock option activity under the Plan and the 2017 Plan was as follows:
| Stock options outstanding |
Number of shares |  | Weighted average exercise price |  | Weighted average remaining contractual term (in years) |  | Aggregate intrinsic value |
Balance, December 31, 2021 | 79,644,550 |  |  | $ | 1.44 |  |  |  |  |  |
Granted | 6,748,081 |  |  | 2.69 |  |  |  |  |  |
Exercised | (19,002,590) |  |  | 0.63 |  |  |  |  |  |
Forfeited | (4,144,285) |  |  | 2.49 |  |  |  |  |  |
Balance, September 30, 2022 | 63,245,756 |  |  | $ | 1.75 |  |  | 7.1 |  | $ | 51,428 |  |
Exercisable, September 30, 2022 | 42,496,184 |  |  | $ | 1.32 |  |  | 6.4 |  | $ | 46,398 |  |
Stock-based compensation recognized for stock options for the three months ended September 30, 2022 and 2021 was $4,011 and $5,835, respectively. Stock-based compensation recognized for stock options for the nine months ended September 30, 2022 and 2021 was $12,797 and $18,293, respectively. The unrecognized stock-based compensation related to unvested stock options was $28,932 as of September 30, 2022 and will be recognized over a weighted average period of 1.4 years. Restricted Stock Units RSUs granted under the 2017 Plan generally are subject to two vesting requirements: (1) a time-based vesting requirement, and (2) a liquidity event. Generally, the time-based vesting requirement is quarterly over four years starting on the vesting commencement date, with a one-year cliff. The liquidity event vesting requirement was satisfied with the closing of the Merger in November 2021. RSUs granted under the Plan generally are subject to a time-based vesting requirement. Generally, the time-based vesting requirement is quarterly over one to four years starting on the vesting commencement date, with a one-year cliff vesting for new hire awards. RSU activity under the Plan and the 2017 Plan was as follows:
| Unvested RSUs outstanding |
Number of shares |  | Weighted- average grant date fair value |
Balance, December 31, 2021 | 34,054,713 |  |  | $ | 4.72 |  |
Granted | 106,875,524 |  |  | 3.74 |  |
Vested | (20,544,459) |  |  | 4.31 |  |
Forfeited | (12,611,734) |  |  | 4.35 |  |
Balance, September 30, 2022 | 107,774,044 |  |  | $ | 3.86 |  |
Stock-based compensation recognized for RSUs for the three months ended September 30, 2022 and September 30, 2021 was $32,665 and $—, respectively. Stock-based compensation recognized for RSUs for the nine months ended September 30, 2022 and September 30, 2021 was $92,420 and $—, respectively. The unrecognized stock-based compensation related to unvested RSUs was $351,610 at September 30, 2022 and will be recognized over a weighted average period of 2.8 years. Related Party RSUs Prior to the ATG acquisition, employees of ATG received grants of RSUs in the former ultimate parent company of ATG, which became a related party of the Company after the closing of the transaction. These awards were modified after the transaction to allow the awards to continue to vest for the first year subsequent to the closing of the acquisition as long as personnel remain employees of the Company. These awards are compensation for services provided to the Company and accounted for as stock-based compensation. Awards representing 2,928,854 shares were modified on the acquisition date and 538,140 shares were forfeited before the final vesting in January 2022. The fair value of these awards was equal to the market value of the related party’s common stock on the date of modification. Stock-based compensation recognized for related party RSUs for the three months ended September 30, 2022 and September 30, 2021 was $0 and $33,518, respectively. Stock-based compensation recognized for related party RSUs for the nine months ended September 30, 2022 and September 30, 2021 was $6,200 and $98,512, respectively. No unrecognized stock-based compensation remains for the related party RSUs as of September 30, 2022. Stock-based Compensation Expense Stock-based compensation is allocated on a departmental basis, based on the classification of the option holder or grant recipient. No income tax benefits have been recognized in the statement of operations for stock-based compensation arrangements and no stock-based compensation has been capitalized as of September 30, 2022. Total stock-based compensation expense by function was as follows:
|  | Three Months Ended September 30, |  | Nine Months Ended September 30, |
| 2022 |  | 2021 |  | 2022 |  | 2021 |
Research and development |  | $ | 31,592 |  |  | $ | 38,015 |  |  | $ | 99,243 |  |  | $ | 112,329 |  |
Selling, general, and administrative |  | 5,213 |  |  | 1,952 |  |  | 13,087 |  |  | 6,076 |  |
Total |  | $ | 36,805 |  |  | $ | 39,967 |  |  | $ | 112,330 |  |  | $ | 118,405 |  |

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