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Equity (Tables)
12 Months Ended
Dec. 31, 2022
Equity [Abstract]  
Share-based Payment Arrangement, Restricted Stock and Restricted Stock Unit, Activity
The following table summarizes activity related to RSUs during the year ended December 31, 2022 (in thousands, except for weighted average grant date fair value):
SharesWeighted Average Grant Date Fair Value
Outstanding, beginning of year217 $7.17 
Granted226 6.44 
Released(123)7.07 
Forfeited(39)7.13 
Outstanding, end of year281 $6.66 
Share-based Payment Arrangement, Option, Activity
The following table summarizes activity related to options during the year ended December 31, 2022:
SharesWeighted Average Exercise PriceWeighted Average Remaining Contractual TermAggregate Intrinsic Value
Outstanding, beginning of year1,871 $8.03 
Granted453 6.65 
Exercised(13)6.96 
Cancelled(379)7.81 
Outstanding, end of year1,932 $7.30 3.16$4,034 
Vested and expected to vest1,793 $7.30 3.12$3,754 
Exercisable941 $7.33 2.67$1,988 
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions
The following table summarizes the weighted average assumptions used to develop their fair value for the years ending December 31:
20222021
Grant date fair value$2.47 $3.63 
Risk-free interest rate1.92 %0.64 %
Expected volatility51 %61 %
Expected life2.88 years3.99 years
Dividend yield— —