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Stock Option Plan (Tables)
6 Months Ended
Jun. 30, 2023
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 (in thousands)
Outstanding, December 31, 20221,421,235 $12.94 7.09$483 
Granted58,500 $3.15 
Exercised(93,335)$0.26 
Forfeited(32,426)$14.38 
Expired(359,448)$17.02 
Outstanding, June 30, 2023
994,526 $12.03 6.90$349 
Vested and expected to vest, June 30, 2023
994,526 $12.03 6.90$349 
Options exercisable, June 30, 2023
825,513 $12.24 6.66$349 
Schedule of 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 (in thousands)
Outstanding, December 31, 20221,036,208 $7.28 $2,487 
Awards granted796,400 $2.42 
Awards released(144,985)$12.01 
Awards canceled(89,045)$9.53 
Outstanding, June 30, 2023
1,598,578 $4.30 $4,636 
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 condensed statements of operations is as follows (in thousands):
 
 Three Months Ended June 30,Six Months Ended June 30,
 2023202220232022
Costs of revenue$63 $59 $116 $103 
Selling, general and administrative874 1,203 1,705 2,321 
Research and development41 178 143 392 
Total$978 $1,440 $1,964 $2,816