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Stock-Based Compensation (Tables) | 12 Months Ended
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Dec. 31, 2022
Summary of stock option activity | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | ​ | ​ | Options Outstanding
​ | ​ | ​ | ​ | ​ | ​ | Weighted- | ​ | Weighted- | ​ | ​ | ​
​ | ​ | Options and | ​ | ​ | ​ | Average | ​ | Average | ​ | Aggregate
​ | ​ | Awards | ​ | ​ | ​ | Exercise | ​ | Remaining | ​ | Intrinsic
​ | ​ | Available for | ​ | Number of | ​ | Price Per | ​ | Contractual | ​ | Value
​ | ​ | Grant |  | Options |  | Share |  | Life (years) |  | (In thousands)
Balance—December 31, 2021 |  | 1,038,956 | ​ | 1,783,298 | ​ | $ | 5.21 | ​ | 8.0 | ​ | $ | 10,891
Authorized |  | 595,753 | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
RSUs granted | ​ | (620,218) | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
RSUs cancelled/forfeited | ​ | 25,312 | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
Options granted | ​ | (489,244) | ​ | 489,244 | ​ | $ | 8.17 | ​ | ​ | ​ | ​ | ​
Options exercised |  | ​ | ​ | (116,040) | ​ | $ | 4.71 | ​ | ​ | ​ | $ | 333
Options cancelled/forfeited |  | 138,913 | ​ | (161,776) | ​ | $ | 6.18 | ​ | ​ | ​ | ​ | ​
Balance—December 31, 2022 |  | 689,472 |  | 1,994,726 | ​ | $ | 5.88 | ​ | 7.8 | ​ | $ | 1,275
Options exercisable—December 31, 2022 |  | ​ |  | 919,508 | ​ | $ | 5.38 | ​ | 6.9 | ​ | $ | 809
​
Schedule of restricted stock unit activity | ​
​ | ​ | ​ | ​ | ​ | ​
​ | ​ | RSUs Outstanding
​ | ​ | ​ |  | Weighted-
​ | ​ | ​ |  | Average
​ | ​ | Number of |  | Grant Date
​ | ​ | Restricted Stock |  | Fair Value Per
​ |  | Units |  | Share
Balance—December 31, 2021 | ​ | 384,307 | ​ | $ | 5.00
Granted |  | 620,218 | ​ | $ | 7.11
Vested | ​ | (322,567) | ​ | $ | 6.04
Cancelled/forfeited | ​ | (25,312) | ​ | $ | 5.92
Balance—December 31, 2022 |  | 656,646 |  | $ | 6.45
​
Employee |
Schedule of fair value assumptions | ​
​ | ​ | ​ | ​ | ​
​ | Year Ended | ​
​ | December 31, |
​ | 2022 |  | 2021 |
Expected volatility | 73.7 - 74.1 | % | 72.6 - 74.1 | %
Risk-free interest rate | 2.13 - 2.93 | % | 0.62 - 1.30 | %
Expected term (in years) | 6.05 - 6.08 |  | 5.89 - 6.08 | ​
Dividend yield | — | % | — | %
​
ESPP |
Schedule of fair value assumptions | ​
​ | ​ | ​ | ​ | ​
​ | Year Ended | ​
​ | December 31, |
​ | 2022 |  | 2021 |
Expected volatility | 40.7 - 95.6 | % | 40.7 - 100.7 | %
Risk-free interest rate | 0.06 - 4.46 | % | 0.05 - 0.13 | %
Expected term (in years) | 0.5 - 1.0 |  | 0.5 - 1.0 | ​
Dividend yield | — | % | — | %
​

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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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