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Stock-Based Incentive Compensation Plans (Tables)

9 Months Ended

Sep. 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			(2,308,591)
Cancelled			1,305,842
Withheld for taxes			49,733
Shares available for grant as of September 30, 2023			1,743,217

Schedule of Stock Option Activity

A summary of stock option activity for the nine months ended September 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			695,225						$	3.85
Exercised			(494,849)						$	0.03
Cancelled			(662,642)						$	5.00
Balances at September 30, 2023			2,984,317						$	3.95					6.70
Vested and exercisable at September 30, 2023			1,874,089						$	3.38					5.45
Vested and expected to vest at September 30, 2023			2,984,317						$	3.95					6.70

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			1,993,790						$	4.62
Vested			(590,698)						$	9.89
Cancelled			(643,200)						$	7.17
Unvested, September 30, 2023			2,516,101						$	6.59

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

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

			Three Months Ended September 30,												Nine Months Ended September 30,
			2023						2022						2023						2022
Cost of goods sold			$	155					$	129					$	449					$	402
Research and development			751						563						1,984						1,751
Selling, general and administrative			1,515						1,490						4,768						4,120
Total stock-based compensation			$	2,421					$	2,182					$	7,201					$	6,273

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

			Three Months Ended September 30,												Nine Months Ended September 30,
			2023						2022						2023						2022
Stock options and restricted stock units			$	2,333					$	2,054					$	7,010					$	5,897
ESPP			88						128						191						376
Total stock-based compensation			$	2,421					$	2,182					$	7,201					$	6,273

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