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Stock Option Plan (Tables) | 3 Months Ended
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Mar. 31, 2024
Share-Based Payment Arrangement [Abstract] |
Schedule of Restricted Stock Unit Activity | RSU activity under the Company's 2019 Plan is set forth below:
|  | Number of Shares |  | Weighted- Average Grant Date Fair Value
Outstanding, December 31, 2023 |  | 1,387,459 |  |  | $ | 4.24 |
Awards granted |  | 781,875 |  |  | $ | 1.95 |
Awards released |  | (217,056) |  |  | $ | 5.76 |
Awards canceled |  | (171,238) |  |  | $ | 5.05 |
Outstanding, March 31, 2024 |  | 1,781,040 |  |  | $ | 2.97 |
Schedule of Stock Option Activity | Stock option activity under the 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, 2023 |  | 986,819 |  |  | $ | 11.87 |  |  | 6.44 |  | $ | 228 |
Granted |  | — |  |  | $ | — |  |  |  |  |
Exercised |  | (326) |  |  | $ | 0.26 |  |  |  |  |
Forfeited |  | (4,845) |  |  | $ | 17.30 |  |  |  |  |
Expired |  | (52,748) |  |  | $ | 12.30 |  |  |  |  |
Outstanding, March 31, 2024 |  | 928,900 |  |  | $ | 11.83 |  |  | 6.19 |  | $ | 175 |
Vested and expected to vest, March 31, 2024 |  | 928,900 |  |  | $ | 11.83 |  |  | 6.19 |  | $ | 175 |
Options exercisable, March 31, 2024 |  | 841,410 |  |  | $ | 12.51 |  |  | 5.93 |  | $ | 175 |
Schedule of Non-Cash Stock-Based Compensation Expense | Total non-cash stock-based compensation expense recorded related to options granted, RSUs granted and stock purchase rights granted under the ESPP in the condensed statements of operations is as follows (in thousands):
|  | Three Months Ended March 31, |  |
|  | 2024 |  | 2023 |  |  |  |
Costs of revenue |  | $ | 17 |  |  | $ | 53 |  |  |  |  |
Selling, general and administrative |  | 479 |  |  | 831 |  |  |  |  |
Research and development |  | 57 |  |  | 102 |  |  |  |  |
Total |  | $ | 553 |  |  | $ | 986 |  |  |  |  |

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