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Stock-Based Compensation (Tables) | 12 Months Ended
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Dec. 31, 2023
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, 2022 |  | 689,472 | ​ | 1,994,726 | ​ | $ | 5.88 | ​ | 7.8 | ​ | $ | 1,275
Authorized |  | 611,228 | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
RSUs granted | ​ | (713,301) | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
RSUs cancelled/forfeited | ​ | 7,057 | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
Warrants exercised | ​ | (236) | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
Options granted | ​ | (8,000) | ​ | 8,000 | ​ | $ | 6.47 | ​ | ​ | ​ | ​ | ​
Options exercised |  | — | ​ | (161,121) | ​ | $ | 4.99 | ​ | ​ | ​ | $ | 679
Options cancelled/forfeited |  | 12,177 | ​ | (12,177) | ​ | $ | 6.48 | ​ | ​ | ​ | ​ | ​
Balance—December 31, 2023 |  | 598,397 |  | 1,829,428 | ​ | $ | 5.96 | ​ | 6.9 | ​ | $ | 5,676
Options exercisable—December 31, 2023 |  | ​ |  | 1,296,776 | ​ | $ | 5.67 | ​ | 6.5 | ​ | $ | 4,411
Schedule of restricted stock unit activity | ​
​ | ​ | ​ | ​ | ​ | ​
​ | ​ | RSUs Outstanding
​ | ​ | ​ |  | Weighted-
​ | ​ | ​ |  | Average
​ | ​ | Number of |  | Grant Date
​ | ​ | Restricted Stock |  | Fair Value Per
​ |  | Units |  | Share
Balance—December 31, 2022 | ​ | 656,646 | ​ | $ | 6.45
Granted |  | 713,301 | ​ | $ | 6.52
Vested | ​ | (457,109) | ​ | $ | 6.29
Cancelled/forfeited | ​ | (7,057) | ​ | $ | 6.32
Balance—December 31, 2023 |  | 905,781 |  | $ | 6.59
Employee |
Schedule of fair value assumptions | ​
​ | ​ | ​ | ​ | ​
​ | Year Ended | ​
​ | December 31, |
​ | 2023 |  | 2022 |
Expected volatility | 50.9 - 73.9 | % | 73.7 - 74.1 | %
Risk-free interest rate | 2.33 - 3.45 | % | 2.13 - 2.93 | %
Expected term (in years) | 6.01 - 6.05 |  | 6.05 - 6.08 | ​
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 -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + 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 -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (d) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (e) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + 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 -Topic 718 -SubTopic 10 -Subparagraph (f)(2) -Name Accounting Standards Codification -Paragraph 2 -Section 50 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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