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Stock-Based Incentive Compensation Plans (Tables)

6 Months Ended

Jun. 30, 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			(2,238,980)
Cancelled			338,871
Withheld for taxes			45,468
Shares available for grant as of June 30, 2023			841,592

Schedule of Stock Option Activity

A summary of stock option activity for the six months ended June 30, 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			314,801						$	3.21
Exercised			(181,742)						$	0.03
Cancelled			(122,141)						$	4.07
Balances at June 30, 2023			3,457,501						$	3.75					5.21
Vested and exercisable at June 30, 2023			2,057,141						$	3.03					4.81
Vested and expected to vest at June 30, 2023			3,457,501						$	3.75					5.21

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			1,924,179						$	4.60
Vested			(471,534)						$	9.70
Cancelled			(216,730)						$	8.72
Unvested, June 30, 2023			2,992,124						$	6.76

Schedule of Share-based Payment Arrangement, Expensed and Capitalized, Amount

The Company recognized stock-based compensation as follows (in thousands):

			Three Months Ended June 30,												Six Months Ended June 30,
			2023						2022						2023						2022
Cost of goods sold			$	148					$	163					$	294					$	273
Research and development			733						748						1,233						1,188
Selling, general and administrative			1,774						1,692						3,253						2,630
Total stock-based compensation			$	2,655					$	2,603					$	4,780					$	4,091

The above stock-based compensation expense related to the following equity-based awards (in thousands):

			Three Months Ended June 30,												Six Months Ended June 30,
			2023						2022						2023						2022
Stock options and restricted stock units			$	2,606					$	2,491					$	4,677					$	3,843
ESPP			49						112						103						248
Total stock-based compensation			$	2,655					$	2,603					$	4,780					$	4,091

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Tabular disclosure of share-based payment arrangement.

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Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value.

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