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Equity (Tables)
12 Months Ended
Dec. 31, 2023
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, 2023 (in thousands, except for weighted average grant date fair value):
SharesWeighted Average Grant Date Fair Value
Outstanding, beginning of year281 $6.65 
Granted467 11.70 
Released(183)6.77 
Forfeited(46)9.87 
Outstanding, end of year519 $10.85 
Share-based Payment Arrangement, Option, Activity
The following table summarizes activity related to options during the year ended December 31, 2023:
SharesWeighted Average Exercise PriceWeighted Average Remaining Contractual TermAggregate Intrinsic Value
Outstanding, beginning of year1,932 $7.34 
Granted11 13.12 
Exercised(420)7.19 
Cancelled(126)7.96 
Outstanding, end of year1,397 $7.30 2.40$2,346 
Vested and expected to vest1,363 $7.30 2.38$2,294 
Exercisable1,089 $7.22 2.21$1,885 
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:
20232022
Grant date fair value$5.30 $2.47 
Risk-free interest rate3.63 %1.92 %
Expected volatility52 %51 %
Expected life (in years)3.352.88
Dividend yield— — 
Share-Based Payment Arrangement, Performance Shares, Activity
The following table summarizes activity related to PSUs during the year ended December 31, 2023 (in thousands, except for weighted average grant date fair value):
SharesWeighted Average Grant Date Fair Value
Outstanding, beginning of year— $— 
Granted354 9.49 
Released— — 
Forfeited(50)9.49 
Outstanding, end of year304 $9.49