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Share-based Compensation
 3 Months Ended
Mar. 31, 2024
Share-Based Payment Arrangement [Abstract]  
Share-based Compensation Share-based Compensation
During the three months ended March 31, 2024 and 2023, the Company granted awards under the 2018 Omnibus Incentive Compensation Plan, previously named the Amended and Restated 2009 Omnibus Incentive Compensation Plan (the “2018 Plan”), and the 2015 Incentive Compensation Plan (the “2015 Plan”). The Compensation Committee of the Board of Directors administers the plans. Under the 2018 Plan, shares of common stock may be issued upon the exercise of stock options, in the form of restricted stock, or in settlement of restricted stock units (“RSUs”) or other awards, including awards with alternative vesting schedules such as performance-based criteria.
The following table presents total share-based compensation expense within each functional line item on the condensed consolidated statements of operations for the three months ended March 31, 2024 and 2023 (in thousands):
 Three Months Ended
March 31,
  20242023
Cost of revenues$31 $184 
Research and development160 248 
Sales and marketing165 330 
General and administrative361 1,038 
      Total$717 $1,800 
Stock Options
The Compensation Committee of the Board of Directors determines eligibility, vesting schedules and exercise prices for stock options granted. The Company generally uses the Black-Scholes option pricing model to estimate the fair value of its stock options. For performance stock awards subject to market-based vesting conditions, fair values are determined using the Monte-Carlo simulation model. Stock options generally have a term of ten years and vest over a three- to four-year period.
The following table summarizes the Company’s stock option activity for the three months ended March 31, 2024:
Outstanding — December 31, 2023545,872 
Granted14,250 
Canceled(111,994)
Outstanding — March 31, 2024448,128 
Exercisable — March 31, 2024338,346 
At March 31, 2024, total unrecognized compensation expense related to stock options was $0.7 million, which is expected to be recognized over a weighted-average period of 3.29 years.
Restricted Stock Units
Pursuant to the 2018 Plan and the 2015 Plan, the Company may issue RSUs that, upon satisfaction of vesting conditions, allow recipients to receive common stock. Issuances of such awards reduce common stock available under the 2018 Plan and 2015 Plan for stock incentive awards. The Company measures compensation cost associated with grants of RSUs at fair value, which is generally the closing price of the Company’s stock on the date of grant. RSUs generally vest over a three- to four-year period.
The following table summarizes the Company’s RSU activity for the three months ended March 31, 2024:
Non-vested — December 31, 2023203,008 
Granted— 
Vested(6,597)
Forfeited(10,590)
Non-vested — March 31, 2024185,821 
At March 31, 2024, total unrecognized compensation expense related to RSUs was $1.6 million, which is expected to be recognized over a weighted-average period of 1.07 years.