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Stock-Based Compensation (Tables) | 12 Months Ended
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Dec. 31, 2023
Share-Based Payment Arrangement [Abstract] |
Stock Options, Valuation Assumptions | The weighted average assumptions used in our Black-Scholes option pricing model for options granted in 2023, 2022 and 2021 were as follows:
|  | 2023 | 2022 |  | 2021
Dividend yield |  | 0.71% - 0.83% | 0.40% - 0.56% |  | 0.32% - 0.35%
Expected volatility |  | 58.16 | % | 58.14 | % |  | 61.62 | %
Risk-free interest rate |  | 3.60% - 4.10% | 1.93% - 2.89% |  | 1.1% - 1.21%
Expected term in years |  | 6.0 years | 6.5 years |  | 6.5 years
Stock Options, Activity | The following table summarizes activity related to stock options during 2023:
|  | Number of Options |  | Weighted- Average Exercise Price Per Share |  | Aggregate Intrinsic Value (thousands) |  | Weighted Average Remaining Term (Years)
Outstanding at December 31, 2022 |  | 1,890,167 |  |  | $ | 12.30 |  |  |  |  |
Granted |  | 519,482 |  |  | 5.51 |  |  |  |  |
Exercised |  | — |  |  | — |  |  |  |  |
Forfeited or expired |  | (382,038) |  |  | 8.56 |  |  |  |  |
Outstanding at December 31, 2023 |  | 2,027,611 |  |  | $ | 11.27 |  |  | $ | — |  |  | 6.5 years
Vested and Expected to vest as of December 31, 2023 |  | 2,027,611 |  |  | $ | 11.27 |  |  | $ | — |  |  | 6.5 years
Exercisable at December 31, 2023 |  | 1,444,617 |  |  | $ | 12.84 |  |  | $ | — |  |  | 5.7 years
A summary of the status and changes of stock options and the related average price per share follows:
|  | Number of Options |  | Weighted- Average Grant Date Fair Value
Outstanding unvested as of December 31, 2022 |  | 429,503 |  |  | $ | 5.42 |
Granted |  | 519,482 |  |  | 3.01 |
Vested |  | (122,221) |  |  | 5.73 |
Forfeited |  | (243,770) |  |  | 3.42 |
Outstanding unvested as of December 31, 2023 |  | 582,994 |  |  | $ | 4.04 |
Schedule of Nonvested Restricted Stock Units Activity | A summary of the status and changes of shares subject to RSU awards for employees and the related average price per share follows:
|  | Number of Shares |  | Weighted- Average Grant Date Fair Value
Outstanding unvested as of December 31, 2022 |  | 477,317 |  |  | $ | 9.72 |
Granted |  | 669,593 |  |  | 5.58 |
Cancelled |  | (164,956) |  |  | 6.54 |
Vested |  | (96,589) |  |  | 9.76 |
Outstanding unvested as of December 31, 2023 |  | 885,365 |  |  | $ | 7.18 |
Share-Based Payment Arrangement, Restricted Stock Unit, Activity | The following table summarizes RSU and DRSU activity during 2023 for our non-employee directors:
|  | Number of Shares |  | Weighted- Average Grant Date Fair Value
Outstanding as of December 31, 2022 |  | — |  |  | $ | — |
Granted |  | 154,894 |  |  | 4.24 |
Vested and delivered |  | (23,971) |  |  | 4.18 |
Outstanding vested and deferred as of December 31, 2023 |  | 130,923 |  |  | $ | 4.25 |
Schedule of Nonvested Performance-Based Units Activity | The following table summarizes the activity related to PSUs during 2023:
|  | Number of Shares |  | Weighted- Average Grant Date Fair Value
Outstanding as of December 31, 2022 |  | — |  |  | $ | — |
Granted |  | 544,801 |  |  | 7.30 |
Vested |  | — |  |  | — |
Forfeited |  | (196,786) |  |  | 7.43 |
Outstanding as of December 31, 2023 |  | 348,015 |  |  | $ | 7.23 |
Schedule of Deferred Share Units | The following table summarizes DSU activity during 2023:
|  | Number of Shares |  | Weighted- Average Grant Date Fair Value
Outstanding as of December 31, 2022 |  | 362,640 |  |  | $ | 8.80 |
Granted |  | 152,509 |  |  | 3.59 |
Distributed |  | (137,609) |  |  | 9.34 |
Outstanding vested and deferred as of December 31, 2023 |  | 377,540 |  |  | $ | 6.52 |

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