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Stock-Based Compensation (Tables) | 9 Months Ended
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Sep. 30, 2023
Stock-Based Compensation |
Schedule of fair value of each option grant | ​
​ | ​ | ​ | ​ | ​ | ​
​ | ​ | September 30, | ​
​ |  | 2023 |  | 2022 |
Expected life (years) | ​ | 3.8 - 5.2 | ​ | 3.8 - 5.2 | ​
Risk-free interest rate |  | 3.5% - 4.4% | ​ | 2.1% - 3.7% | ​
Volatility | ​ | 69.9% - 80.0% | ​ | 67.5% - 76.8% | ​
Dividend yield |  | 0% | ​ | 0% | ​
Schedule of stock-based compensation expense related to all of our share-based payment awards | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Three Months Ended September 30, | ​ | Nine Months Ended September 30,
​ |  | 2023 |  | 2022 |  | 2023 |  | 2022
Cost of revenues | ​ | $ | 604 | ​ | $ | 690 | ​ | $ | 1,655 | ​ | $ | 1,868
Selling, general and administrative | ​ |  | 4,904 | ​ | ​ | 4,194 | ​ |  | 13,973 | ​ | ​ | 11,541
Engineering and development | ​ |  | 468 | ​ | ​ | 482 | ​ |  | 1,332 | ​ | ​ | 1,340
​ | ​ | $ | 5,976 | ​ | $ | 5,366 | ​ | $ | 16,960 | ​ | $ | 14,749
Schedule of stock option activity | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | Weighted- | ​ | ​ | ​
​ | ​ | ​ | ​ | Weighted- | ​ | Average | ​ | ​ | ​
​ | ​ | ​ | ​ | Average | ​ | Remaining | ​ | Aggregate
​ | ​ | Number of | ​ | Exercise | ​ | Contractual | ​ | Intrinsic
​ |  | Shares |  | Price/Share |  | Term (Years) |  | Value (1)
Outstanding — December 31, 2022 | ​ | 7,340,521 | ​ | $ | 15.10 | ​ | — | ​ | ​ | —
Granted (weighted-average fair value of $12.03 per share) | ​ | 394,050 | ​ | ​ | 21.03 | ​ | — | ​ | ​ | —
Exercised |  | (407,814) |  | ​ | 3.63 |  | — | ​ | ​ | —
Forfeited | ​ | (61,056) | ​ | ​ | 30.11 | ​ | — | ​ | ​ | —
Outstanding — September 30, 2023 |  | 7,265,701 | ​ | $ | 15.93 |  | 4.5 | ​ | $ | 27,589
Vested (exercisable) — September 30, 2023 |  | 6,223,812 | ​ | $ | 13.50 |  | 4.3 | ​ | $ | 27,568
Expected to vest after September 30, 2023 (unexercisable) |  | 1,041,889 | ​ | $ | 30.45 |  | 6.0 | ​ | $ | 21
(1) | Aggregate intrinsic value represents the difference between the exercise price of the option and the closing market price of our common stock on September 30, 2023, which was $13.71 per share.
Schedule of restricted stock unit activity | ​
​ | ​ | ​ | ​ | ​ | ​
​ |  | ​ |  | Weighted Average
​ | ​ | Number of Restricted | ​ | Fair Value per
​ | ​ | Stock Units | ​ | Share
Outstanding – December 31, 2022 |  | 727,984 | ​ | $ | 38.32
Granted |  | 628,625 | ​ |  | 20.00
Share issuance |  | (221,623) | ​ |  | 37.67
Forfeited |  | (61,146) | ​ |  | 31.57
Outstanding – September 30, 2023 |  | 1,073,840 | ​ | $ | 28.11

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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 718 -SubTopic 10 -Subparagraph (f)(2) -Name Accounting Standards Codification -Paragraph 2 -Section 50 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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