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Stock Option Plan
 12 Months Ended
Dec. 31, 2023
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, RSUs 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 Company's 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 Company's board of directors. As of December 31, 2023, 1,831,107 shares of common stock remained available for future awards.
Pursuant to the evergreen provision, on January 1, 2024, an additional 681,838 shares of common stock became available for issuance under the 2019 Plan.
Restricted Stock Units
RSU 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, 2022
1,036,208 $7.28 $2,487 
Awards granted857,300 $2.39 
Awards released(273,319)$7.80 
Awards canceled(232,730)$6.80 
Outstanding, December 31, 2023
1,387,459 $4.24 $2,761 
As of December 31, 2023, all of the outstanding RSUs are unvested. The fair value of RSUs vested in the years ended December 31, 2023 and 2022 was $0.6 million and $0.7 million, respectively. The weighted average grant date fair value for RSUs granted during the years ended December 31, 2023 and 2022 was $2.39 and $5.89, respectively. As of December 31, 2023, total unrecognized compensation cost related to RSUs was $4.4 million, which is expected to be recognized over a remaining weighted-average vesting period of 2.8 years.
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, 2022
1,421,235 $12.94 7.09$483 
Granted73,500 $3.04 
Exercised(93,335)$0.26 
Forfeited(43,895)$13.83 
Expired(370,686)$16.88 
Outstanding, December 31, 2023
986,819 $11.87 6.44$228 
Vested and expected to vest, December 31, 2023
986,819 $11.87 6.44$228 
Options exercisable, December 31, 2023
877,937 $12.46 6.18$228 
The weighted-average grant date fair value per share of options granted during the years ended December 31, 2023 and 2022 was $2.17 and $2.74, respectively. The aggregate intrinsic value of options exercised during the years ended December 31, 2023 and 2022 was $0.2 million and $0.6 million, 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 $1.99 and $2.40 per share at December 31, 2023 and 2022, respectively. As of December 31, 2023, total unrecognized compensation cost related to option awards was $0.3 million, which is expected to be recognized over a remaining weighted-average vesting period of 0.8 years.
2019 Employee Stock Purchase Plan
In September 2019, the Company's 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 Company's board of directors. During the year ended December 31, 2023, the Company issued 129,593 shares of common stock pursuant to scheduled purchases under the ESPP. As of December 31, 2023, 449,332 shares of common stock remained available for issuance. Pursuant to the evergreen provision, on January 1, 2024, an additional 170,460 shares became available for issuance under the ESPP.
Stock-based compensation expense related to the ESPP for each of the years ended December 31, 2023 and 2022 was less than $0.1 million. As of December 31, 2023, 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.
Stock-Based Compensation Expense
Total non-cash stock-based compensation expense recorded related to options, RSUs and stock purchase rights granted under the ESPP in the statement of operations is as follows (in thousands):
 
 Year Ended December 31,
 20232022
Cost of revenue$191 $213 
Selling, general and administrative3,174 3,860 
Research and development252 631 
Total$3,617 $4,704 
Common stock reserved for future issuance consists of the following at December 31, 2023:
Warrants to purchase common stock1,214,059 
Common stock option grants issued and outstanding986,819 
Common stock reserved for issuance upon vesting of outstanding restricted stock units1,387,459 
Common shares available for grant under the 2019 Plan1,831,107 
Common shares available for future issuance under ESPP449,332 
Total5,868,776