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Stock Option Plan (Tables) | 12 Months Ended
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Dec. 31, 2022
Share-Based Payment Arrangement [Abstract] |
Schedule of Stock Option Activity | Stock option activity under the Company's 2019 Plan is set forth below:
|  | Number of Options |  | Weighted- Average Exercise Price |  | Weighted- Average Remaining Contractual Term (Years) |  | Aggregate Intrinsic Value
Outstanding, December 31, 2021 |  | 2,014,330 |  |  | $ | 12.10 |  |  | 7.87 |  | $ | 5,428 |
Granted |  | 63,000 |  |  | $ | 5.25 |  |  |  |  |
Exercised |  | (245,186) |  |  | $ | 0.26 |  |  |  |  |
Forfeited |  | (257,982) |  |  | $ | 16.09 |  |  |  |  |
Expired |  | (152,927) |  |  | $ | 13.73 |  |  |  |  |
Outstanding, December 31, 2022 |  | 1,421,235 |  |  | $ | 12.94 |  |  | 7.09 |  | $ | 483 |
Vested and expected to vest, December 31, 2022 |  | 1,421,235 |  |  | $ | 12.94 |  |  | 7.09 |  | $ | 483 |
Options exercisable, December 31, 2022 |  | 1,129,333 |  |  | $ | 12.94 |  |  | 6.89 |  | $ | 483 |
Schedule of Share-based Payment Arrangement, Restricted Stock Unit, Activity | Restricted stock unit activity under the Company's 2019 Plan is set forth below:
|  | Number of Shares |  | Weighted- Average Grant Date Fair Value |  | Aggregate Intrinsic Value
Outstanding, December 31, 2021 |  | 415,325 |  |  | $ | 16.54 |  |  | $ | 4,830 |
Awards granted |  | 1,076,725 |  |  | $ | 5.89 |  |  |
Awards released |  | (100,586) |  |  | $ | 16.55 |  |  |
Awards canceled |  | (355,256) |  |  | $ | 11.29 |  |  |
Outstanding, December 31, 2022 |  | 1,036,208 |  |  | $ | 7.28 |  |  | $ | 2,487 |
Schedule of Fair Value Assumptions, Stock Options | The fair value of employee stock options was estimated using the following assumptions in the Black-Scholes options pricing model to determine the fair value of stock options granted:
|  | Year Ended December 31,
|  | 2022 |  | 2021
Expected volatility |  | 54% |  | 56%-60%
Risk-free interest rate |  | 3.4% |  | 0.8%-1.1%
Dividend yield |  | — |  | —
Expected term (in years) |  | 5.5 |  | 5.5-6.1
The following assumptions were used to calculate the stock-based compensation for each stock purchase right granted under the ESPP:
|  | Year Ended December 31,
|  | 2022 |  | 2021
Expected volatility |  | 45%-57% |  | 45%-60%
Risk-free interest rate |  | 0.6%-3.3% |  | 0.1%
Dividend yield |  | — |  | —
Expected term (in years) |  | 0.5 |  | 0.5
Schedule of Non-cash Stock-based Compensation Expense | Total non-cash stock-based compensation expense recorded related to options granted, restricted stock units granted and stock purchase rights granted under the ESPP in the statement of operations is as follows (in thousands):
|  | Year Ended December 31,
|  | 2022 |  | 2021
Cost of revenue |  | $ | 213 |  |  | $ | 164 |
Selling, general and administrative |  | 3,860 |  |  | 3,943 |
Research and development |  | 631 |  |  | 621 |
Total |  | $ | 4,704 |  |  | $ | 4,728 |
Schedule of Common Stock Reserved For Future Issuance | Common stock reserved for future issuance consists of the following at December 31, 2022:
Warrants to purchase common stock |  | 1,214,059 |
Common stock option grants issued and outstanding |  | 1,421,235 |
Common stock reserved for issuance upon vesting of outstanding restricted stock units |  | 1,036,370 |
Common shares available for grant under the 2019 Plan |  | 1,452,435 |
Common shares available for future issuance under ESPP |  | 413,425 |
Total |  | 5,537,524 |

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- Definition Tabular disclosure of the number and weighted-average grant date fair value for restricted stock units that were outstanding at the beginning and end of the year, and the number of restricted stock units that were granted, vested, or forfeited during the year. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition 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. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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