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Stock-Based Incentive Compensation Plans
 6 Months Ended
Jun. 30, 2023
Share-Based Payment Arrangement [Abstract]  
Stock-Based Incentive Compensation Plans Stock-Based Incentive Compensation PlansA 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, 20231,443,946 
Authorized1,252,287 
Granted/Awarded(2,238,980)
Cancelled338,871 
Withheld for taxes45,468 
Shares available for grant as of June 30, 2023
841,592 
A summary of stock option activity for the six months ended June 30, 2023 is set forth below:
Options Outstanding
Number of SharesWeighted-Average Exercise PriceWeighted Average Remaining Contractual Term (in Years)
Balances as of January 1, 20233,446,583 $3.61 8.06
Granted314,801 $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
Early Exercise of Stock Options
The terms of the Company’s 2020 Stock Plan, or the 2020 Plan, and the 2021 Plan, permit the exercise of options granted under the plans prior to vesting, subject to required approvals. The shares of common stock issued from the early exercise of unvested stock options are restricted and continue to vest over the original implied service period. The Company has the option to repurchase any unvested shares at the original purchase price upon any voluntary or involuntary termination. The shares purchased by the employees and non-employees pursuant to the early exercise of stock options are not deemed, for accounting purposes, to be outstanding until those shares vest. The cash received in exchange for exercised and unvested shares related to stock options granted is recorded as a liability for the early exercise of stock options in accrued liabilities on the accompanying balance sheet and will be transferred into common stock and additional paid-in capital as the shares vest. As of June 30, 2023 and December 31, 2022, there were 53,599 and 78,389 shares of common stock, respectively, issued pursuant to early exercised options and subject to repurchase.
Employee Stock Purchase Plan
In April 2021, the Company adopted the 2021 Employee Stock Purchase Plan, or ESPP. The Company allows eligible employees to purchase shares of the Company's common stock through payroll deductions at a price equal to 85% of the lesser of the fair market value of the stock as of the first date or the ending date of each offering period, which is typically six months. There were 580,000 shares of common stock initially reserved for issuance under the ESPP. In January 2023, the number of shares of common stock available for issuance under the ESPP was increased by 250,457 shares as a result of the automatic increase provision in the ESPP.
As of June 30, 2023, 515,687 shares under the ESPP remain available for purchase. The Company issued 164,710 and 147,217 shares under the ESPP during the six months ended June 30, 2023 and 2022, respectively. The offering period and purchase period is determined by the board of directors. A new offering period of six months has been authorized beginning June 7, 2023 through December 6, 2023.
Restricted Stock Units
Activity with respect to restricted stock units was as follows:
Number of Shares Underlying Outstanding Restricted Stock UnitsWeighted Average Grant Date Fair Value
Unvested, January 1, 20231,756,209 $10.15 
Granted1,924,179 $4.60 
Vested(471,534)$9.70 
Cancelled(216,730)$8.72 
Unvested, June 30, 2023
2,992,124 $6.76 
Stock-Based Compensation
The Company recognized stock-based compensation as follows (in thousands):
Three Months Ended June 30,Six Months Ended June 30,
2023202220232022
Cost of goods sold$148 $163 $294 $273 
Research and development733 748 1,233 1,188 
Selling, general and administrative1,774 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,
2023202220232022
Stock options and restricted stock units$2,606 $2,491 $4,677 $3,843 
ESPP49 112 103 248 
Total stock-based compensation$2,655 $2,603 $4,780 $4,091 
As of June 30, 2023, the total unrecognized stock-based compensation expense related to unvested stock options and restricted stock units was $19.0 million, which will be amortized on a straight-line basis over a weighted average remaining period of 2.5 years.
As of June 30, 2023, the Company had unrecognized stock-based compensation expense relating to the ESPP awards of $0.1 million, which is expected to be recognized over a weighted-average period of 0.4 years.