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Stock-Based Compensation (Tables) | 12 Months Ended
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Dec. 31, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
Summary of Shares Available for Issuance Under 2020 Plan | A summary of the shares available for issuance under the 2020 Plan is as follows:
|  | Number of Shares |
Balance at December 31, 2021 |  |  | 1,082 |
Authorized |  |  | 549 |
Granted/Awarded |  |  | (678 | )
Cancelled |  |  | 49 |
Balance at December 31, 2022 |  |  | 1,002 |
Authorized |  |  | 555 |
Granted/Awarded |  |  | (1,380 | )
Cancelled |  |  | 117 |
Balance at December 31, 2023 |  |  | 294 |
Summary of Option Award Activity | Option award activity under the 2020 Plan is set forth below:
|  | Options Outstanding |
|  | Number of Shares |  |  | Weighted Average Exercise Price |  |  | Weighted Average Remaining Contractual Term (In Years) |  |  | Aggregate Intrinsic Value |
Outstanding at December 31, 2021 |  |  | 653 |  |  | $ | 7.57 |  |  |  | 9.3 |  |  | $ | — |
Options granted |  |  | 592 |  |  | $ | 6.19 |  |  |  |  |  |  |
Options exercised |  |  | — |  |  | $ | — |  |  |  |  |  |  |
Options cancelled |  |  | (43 | ) |  | $ | 6.88 |  |  |  |  |  |  |
Outstanding at December 31, 2022 |  |  | 1,202 |  |  | $ | 6.91 |  |  |  | 8.7 |  |  | $ | — |
Options granted |  |  | 834 |  |  | $ | 2.98 |  |  |  |  |  |  |
Options exercised |  |  | — |  |  | $ | — |  |  |  |  |  |  |
Options cancelled |  |  | (62 | ) |  | $ | 5.01 |  |  |  |  |  |  |
Outstanding at December 31, 2023 |  |  | 1,974 |  |  | $ | 5.31 |  |  |  | 8.0 |  |  | $ | 429 |
Vested and expected to vest at December 31, 2023 |  |  | 1,974 |  |  | $ | 5.31 |  |  |  | 8.0 |  |  | $ | 429 |
Vested and exercisable at December 31, 2023 |  |  | 960 |  |  | $ | 6.48 |  |  |  | 7.2 |  |  | $ | 42 |
Summary of Stock Options Outstanding and Vested | The following table summarizes information about stock options outstanding and vested as of December 31, 2023:
|  | Options Outstanding |  |  | Options Vested |
Exercise Price |  | Options Outstanding |  |  | Weighted Average Remaining Contractual Term (in Years) |  |  | Weighted Average Exercise Price |  |  | Number Exercisable |  |  | Weighted Average Exercise Price |
$2.15 - $3.10 |  |  | 361 |  |  |  | 9.0 |  |  | $ | 2.66 |  |  |  | — |  |  | $ | — |
$3.23 |  |  | 436 |  |  |  | 9.1 |  |  | $ | 3.23 |  |  |  | 149 |  |  | $ | 3.23 |
$3.27 - $5.95 |  |  | 32 |  |  |  | 8.6 |  |  | $ | 5.42 |  |  |  | 10 |  |  | $ | 5.78 |
$6.04 |  |  | 415 |  |  |  | 8.0 |  |  | $ | 6.04 |  |  |  | 199 |  |  | $ | 6.04 |
$6.07 - $8.62 |  |  | 730 |  |  |  | 6.7 |  |  | $ | 7.44 |  |  |  | 602 |  |  | $ | 7.45 |
|  |  | 1,974 |  |  |  | 8.0 |  |  | $ | 5.31 |  |  |  | 960 |  |  | $ | 6.48 |
Summary of Fair Value of Employee and Non-Employee Stock Options was Estimated Using Assumptions | The fair value of employee and non-employee stock options was estimated using the following assumptions for the years ended December 31, 2023 and 2022:
| Year Ended December 31, |  | Year Ended December 31,
| 2023 |  | 2022
Risk-free interest rate | 3.5 - 4.7% |  | 1.5 - 4.2%
Expected term (years) | 6 |  | 6
Expected volatility | 57 - 70% |  | 70%
Dividends | 0.0% |  | 0.0%
Summary of Total Stock-Based Compensation Expense Recognized | The following table sets forth the total stock-based compensation expense recognized under the 2020 Plan and the 2020 ESPP in the Company’s statements of operations:
|  | Year Ended December 31, |
|  | 2023 |  |  | 2022 |
Revenue—product |  | $ | 10 |  |  | $ | — |
Cost of revenue—product |  |  | 289 |  |  |  | 219 |
Cost of revenue—service |  |  | 168 |  |  |  | 126 |
Selling, general and administrative expenses |  |  | 4,495 |  |  |  | 5,648 |
Research and development expenses |  |  | 577 |  |  |  | 618 |
Total |  | $ | 5,539 |  |  | $ | 6,611 |
Summary of Unrecognized Stock-based Compensation Expense Expected to be Amortized | Total unrecognized stock-based compensation expense is expected to be amortized as follows:
Fiscal Year |  | Amount |
2024 |  | $ | 2,069 |
2025 |  |  | 1,006 |
2026 |  |  | 215 |
2027 |  |  | 7 |
2028 |  |  | — |
Thereafter |  |  | — |
Total unrecognized stock-based compensation expense |  | $ | 3,297 |
Restricted Stock Awards |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
Summary of Restricted Stock Activity | Restricted stock award activity under the 2020 Plan is set forth below:
|  | Restricted Stock Awards Outstanding |
|  | Number of Units |  |  | Weighted- average grant- date fair value per share |
Non-vested at December 31, 2021 |  |  | 1,332 |  |  | $ | 10.29 |
Granted |  |  | — |  |  | $ | — |
Vested |  |  | (704 | ) |  | $ | 10.29 |
Cancelled |  |  | (6 | ) |  | $ | 10.81 |
Non-vested at December 31, 2022 |  |  | 622 |  |  | $ | 10.29 |
Granted |  |  | — |  |  | $ | — |
Vested |  |  | (616 | ) |  | $ | 10.29 |
Cancelled |  |  | (6 | ) |  | $ | 10.81 |
Non-vested at December 31, 2023 |  |  | — |  |  | $ | — |
Restricted Stock Units |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |
Summary of Restricted Stock Activity | Restricted stock unit activity under the 2020 Plan is set forth below:
|  | Restricted Stock Units Outstanding |
|  | Number of Units |  |  | Weighted- average grant- date fair value per share |
Non-vested at December 31, 2021 |  |  | — |  |  | $ | — |
Granted |  |  | 86 |  |  | $ | 6.33 |
Vested |  |  | — |  |  | $ | — |
Cancelled |  |  | — |  |  | $ | — |
Non-vested at December 31, 2022 |  |  | 86 |  |  | $ | 6.33 |
Granted |  |  | 546 |  |  | $ | 2.73 |
Vested |  |  | (113 | ) |  | $ | 4.14 |
Cancelled |  |  | (36 | ) |  | $ | 2.65 |
Non-vested at December 31, 2023 |  |  | 483 |  |  | $ | 3.04 |

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