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Stock-Based Incentive Compensation Plans (Tables) | 3 Months Ended
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Mar. 31, 2023
Share-Based Payment Arrangement [Abstract] |
Schedule of Available for Grant | A summary of shares available for grant under the Company’s 2021 Equity Incentive Plan, or the 2021 Plan, is as follows:
| Shares Available for Grant
Shares available for grant as of January 1, 2023 | 1,443,946 |
Authorized | 1,252,287 |
Granted/Awarded | (1,821,762) |
Cancelled | 49,627 |
Withheld for taxes | 35,562 |
Shares available for grant as of March 31, 2023 | 959,660 |
Schedule of Stock Option Activity | A summary of stock option activity for the three months ended March 31, 2023 is set forth below:
| Options Outstanding
| Number of Shares |  | Weighted-Average Exercise Price |  | Weighted Average Remaining Contractual Term (in Years)
Balances as of January 1, 2023 | 3,446,583 |  |  | $ | 3.61 |  |  | 8.06
Granted | 120,521 |  |  | $ | 1.54 |  |  |
Exercised | (17,608) |  |  | $ | 0.03 |  |  |
Cancelled | (17,898) |  |  | $ | 6.40 |  |  |
Balances at March 31, 2023 | 3,531,598 |  |  | $ | 3.54 |  |  | 7.92
Vested and exercisable at March 31, 2023 | 2,003,254 |  |  | $ | 2.66 |  |  | 7.69
Vested and expected to vest at March 31, 2023 | 3,531,598 |  |  | $ | 3.54 |  |  | 7.92
Schedule of Restricted Stock Units | Activity with respect to restricted stock units was as follows:
| Number of Shares Underlying Outstanding Restricted Stock Units |  | Weighted Average Grant Date Fair Value
Unvested, January 1, 2023 | 1,756,209 |  |  | $ | 10.15 |
Granted | 1,701,241 |  |  | $ | 4.61 |
Vested | (325,747) |  |  | $ | 9.54 |
Cancelled | (31,729) |  |  | $ | 13.12 |
Unvested, March 31, 2023 | 3,099,974 |  |  | $ | 7.14 |
Schedule of Share-based Payment Arrangement, Expensed and Capitalized, Amount | The Company recognized stock-based compensation as follows (in thousands):
| Three Months Ended March 31,
| 2023 |  | 2022
Cost of goods sold | $ | 146 |  |  | $ | 110 |
Research and development | 500 |  |  | 440 |
Selling, general and administrative | 1,479 |  |  | 938 |
Total stock-based compensation | $ | 2,125 |  |  | $ | 1,488 |
The above stock-based compensation expense related to the following equity-based awards (in thousands):
| Three Months Ended March 31,
| 2023 |  | 2022
Stock options and restricted stock units | $ | 2,071 |  |  | $ | 1,352 |
ESPP | 54 |  |  | 136 |
Total stock-based compensation | $ | 2,125 |  |  | $ | 1,488 |

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