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Stock Option Plan
 12 Months Ended
Dec. 31, 2022
Share-Based Payment Arrangement [Abstract]  
Stock Option Plan Stock Option Plan
2019 Incentive Award Plan
In September 2019, the Company's Board of Directors adopted, and the Company's stockholders approved, the 2019 Plan. Under the 2019 Plan, which expires in September 2029, the Company may grant stock options, stock appreciation rights, restricted stock, restricted stock units and other awards to individuals who are then employees, officers, non-employee directors or consultants of the Company or its subsidiaries. The options generally expire ten
years after the date of grant and are exercisable to the extent vested. Vesting is established by the Board of Directors and is generally four years from the date of grant or, for grants to new hires, date of hire. The 2019 Plan contains an "evergreen provision" that allows annual increases in the number of shares available for issuance on the first day of each calendar year through January 1, 2029 in an amount equal to the lesser of: (i) 4% of the outstanding capital stock on each December 31st, or (ii) such lesser amount determined by the Board of Directors. As of December 31, 2022, 1,452,435 shares remained available for future awards. Under the evergreen provision, on January 1, 2023, an additional 661,999 shares became available for issuance under the 2019 Plan.
2019 Employee Stock Purchase Plan
In September 2019, the Board of Directors adopted, and the Company's stockholders approved, the ESPP. The ESPP became effective on the day the ESPP was adopted by the Company's Board of Directors. The ESPP permits participants to purchase common stock through payroll deductions of up to 20% of their eligible compensation. The number of shares of common stock available for issuance under the ESPP will be annually increased on the first day of each calendar year during the term of the ESPP through January 1, 2029 in an amount equal to the lesser of (i) 1% of the outstanding capital stock on each December 31st, or (ii) such lesser amount determined by the Board of Directors. As of December 31, 2022, 413,425 shares of common stock remained available for issuance under the ESPP. Under the evergreen provision, on January 1, 2023, an additional 165,500 shares became available for issuances under the ESPP.
Stock Options
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 
Granted63,000 $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 
The weighted-average grant date fair value per share of employee options granted to employees during the years ended December 31, 2022 and 2021 was $2.74 and $8.83, respectively. The intrinsic value is calculated as the difference between the fair value of the Company's common stock and the exercise price of the stock options. The fair value of the Company's common stock was $2.40 and $11.63 per share at December 31, 2022 and 2021, respectively. The intrinsic value of options exercised for the years ended December 31, 2022 and 2021 was $0.6 million and $0.1 million, respectively. As of December 31, 2022, total unrecognized compensation cost related to option awards was $1.8 million, which is expected to be recognized over a remaining weighted-average vesting period of 1.1 years.
Restricted Stock Units
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 granted1,076,725 $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 
As of December 31, 2022, all of the outstanding restricted stock units are unvested. The fair value of restricted stock units vested in the year ended December 31, 2022 was $0.7 million. No restricted stock units vested in the year ended December 31, 2021. The weighted average grant date fair value for restricted stock units granted during the years ended December 31, 2022 and 2021 was $5.89 and $16.53, respectively. As of December 31, 2022, total unrecognized compensation cost related to restricted stock units was $6.0 million, which is expected to be recognized over a remaining weighted-average vesting period of 3.3 years.
Stock-Based Compensation Expense
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,
 20222021
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
Employee Stock Purchase Plan
The following assumptions were used to calculate the stock-based compensation for each stock purchase right granted under the ESPP:
 Year Ended December 31,
 20222021
Expected volatility
45%-57%
45%-60%
Risk-free interest rate
0.6%-3.3%
0.1%
Dividend yield——
Expected term (in years)0.50.5
Stock-based compensation expense related to the ESPP for the years ended December 31, 2022 and 2021 was less than $0.1 million and $0.2 million, respectively. As of December 31, 2022, total unrecognized compensation cost related to stock purchase rights granted under the ESPP was less than $0.1 million, which is expected to be recognized over a remaining weighted-average vesting period of 0.2 years.
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,
 20222021
Cost of revenue$213 $164 
Selling, general and administrative3,860 3,943 
Research and development631 621 
Total$4,704 $4,728 
Common stock reserved for future issuance consists of the following at December 31, 2022:
Warrants to purchase common stock1,214,059 
Common stock option grants issued and outstanding1,421,235 
Common stock reserved for issuance upon vesting of outstanding restricted stock units1,036,370 
Common shares available for grant under the 2019 Plan1,452,435 
Common shares available for future issuance under ESPP413,425 
Total5,537,524