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Stock-Based Incentive Compensation Plans (Tables)

6 Months Ended

Jun. 30, 2024

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, 2024			1,314,502
Authorized			1,391,173
Granted/Awarded			(910,445)
Cancelled			449,581
Withheld for taxes			46,774
Shares available for grant as of June 30, 2024			2,291,585

Schedule of Stock Option Activity

A summary of stock option activity for the six months ended June 30, 2024 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, 2024			2,588,765						$	4.51					7.17
Granted			400,284						$	13.45
Exercised			(504,053)						$	1.54
Cancelled			(109,411)						$	12.59
Balances at June 30, 2024			2,375,585						$	6.27					7.68
Vested and exercisable at June 30, 2024			1,389,902						$	5.09					6.76
Vested and expected to vest at June 30, 2024			2,375,585						$	6.27					7.68

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, 2024			2,430,803						$	6.52
Granted			510,161						$	14.38
Vested			(765,001)						$	6.21
Cancelled			(340,170)						$	7.43
Unvested, June 30, 2024			1,835,793						$	8.66

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,
			2024						2023						2024						2023
Cost of goods sold			$	197					$	148					$	359					$	294
Research and development			796						733						1,605						1,233
Selling, general and administrative			1,555						1,774						3,124						3,253
Total stock-based compensation			$	2,548					$	2,655					$	5,088					$	4,780

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,
			2024						2023						2024						2023
Stock options and restricted stock units			$	2,418					$	2,606					$	4,822					$	4,677
ESPP			130						49						266						103
Total stock-based compensation			$	2,548					$	2,655					$	5,088					$	4,780

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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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