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Stock-Based Compensation (Tables)
12 Months Ended
Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]  
Stock-based compensation recognized
Stock-based compensation has been recognized in operating results as follows:

(in thousands)Years ended December 31,
 20232022
Research and development expenses$1,279 $1,035 
Selling, general and administrative expenses3,230 3,221 
Total stock-based compensation$4,509 $4,256 
Estimated Fair Value of Stock Options - Assumptions
The estimated fair value of stock option awards was determined on the date of grant using the Black-Scholes option valuation model with the following assumptions during the years indicated below:

 Years ended December 31,
 20232022
Risk-free interest rate (range)
3.56% - 4.06%
1.62% - 3.75%
Dividend yield0%0%
Expected volatility (range)
105% - 110%
98% - 110%
Expected volatility (weighted-average)109%106%
Expected term (in years)5.2 years6.0 years
Summary of Stock Option Activity
A summary of stock option activity and of changes in stock options outstanding is presented below:

Number of OptionsWeighted-Average Exercise Price Per ShareIntrinsic
Value
Weighted-Average
Remaining
Contractual Life
Balance outstanding, December 31, 20225,069,458 $5.92 $19,322 7.4 years
Granted2,138,624 $1.70 
Forfeited and expired(557,128)$9.43 
Balance Outstanding, December 31, 2023
6,650,954 $4.27 $23,926 7.9 years
Vested and exercisable, December 31, 20233,124,492 $5.66 $22,456 6.9 years
Vested and expected to vest, December 31, 2023
6,462,464 $4.33 $23,853 7.8 years