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Equity Incentive Plans
 9 Months Ended
Sep. 30, 2022
Share-Based Payment Arrangement [Abstract]  
Equity Incentive Plans EQUITY INCENTIVE PLANS
Stock-Based Compensation
Stock-based compensation expense recognized for stock options, restricted stock units ("RSUs"), performance-based restricted stock units ("PRSUs") and our employee stock purchase program (the "ESPP") are recorded as operating expenses in our condensed statements of operations and comprehensive loss, as follows (in thousands):
Three Months Ended September 30,Nine Months Ended September 30,
2022202120222021
Selling, general and administrative$1,373 $1,532 $6,102 $5,659 
Research and development461 730 2,557 2,909 
Total$1,834 $2,262 $8,659 $8,568 
As of September 30, 2022, the balance of inventory included in our condensed balance sheet includes $0.2 million stock-based compensation. During the three and nine months ending September 30, 2022, the amount of stock-based compensation released from inventory into cost of revenue was not material.
As of September 30, 2022, our total unrecognized stock-based compensation expense, net of estimated forfeitures, and average remaining vesting period, included the following (dollars in thousands):
Unrecognized Compensation ExpenseAverage Remaining Vesting Period (Years)
Stock option grants$11,082 2.6
RSU grants$3,030 3.0
ESPP$34 0.4
Stock Options
A summary of our stock option activity and related information for the nine months ended September 30, 2022 is as follows (in thousands, except dollar amounts):
Number of SharesWeighted-Average
Exercise Price per
Share
Balance at December 31, 202110,417 $7.00 
Options granted4,877 $0.88 
Options exercised— $— 
Options forfeited or canceled(1,454)$6.39 
Balance at September 30, 202213,840 $4.91 
Exercisable at September 30, 20227,801 $6.55 
Restricted Stock Units
A summary of our RSUs activity and related information for the nine months ended September 30, 2022 is as follows (in thousands, except dollar amounts):
Number of
RSUs		Weighted-Average
Grant Date Fair
Value Per Share
Non-vested restricted stock units at December 31, 20213,529 $2.04 
Granted2,012 $0.81 
Vested(3,803)$1.29 
Forfeited(306)$2.25 
Non-vested restricted stock units at September 30, 20221,432 $2.25 
Employee Stock Purchase Plan
During the nine months ended September 30, 2022, we sold approximately 0.3 million shares of our common stock under the ESPP. The shares were purchased by employees at an average purchase price of $0.63 per share resulting in proceeds to us of approximately $0.2 million.
Issuance of Common Stock for Services
Under Our Amended and Restated Non-Employee Director Compensation Program, members of our board of directors may elect to receive shares of our stock in lieu of their cash fees. During the nine months ended September 30, 2022, we issued 0.7 million shares of our common stock to members of the board of directors in accordance with the program.