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Stockholders' Equity | 12 Months Ended
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Dec. 31, 2023
Share-Based Payment Arrangement, Noncash Expense [Abstract] |
Stockholders' Equity | Stockholders’ Equity The Company recognizes stock-based compensation in accordance with the provisions of ASC Topic 718, Compensation-Stock Compensation. Stock-based compensation expense was $2,044 and $3,320, excluding $34 and $104 of compensation charges related to our Amended and Restated 1996 Employee Stock Purchase Plan, or the ESPP, for the years ended December 31, 2023 and 2022, respectively. The Company is authorized to grant stock options, restricted stock awards and other stock-based awards under its Amended and Restated 2016 Equity and Incentive Plan (the 2016 Plan) with respect to up to 6,080 shares of common stock (excluding rollover shares), an increase of 1,280 shares reserved for issuance under the previous 2016 Plan as approved by our shareholders on June 8, 2022. Options have generally been granted with an exercise price equal to the fair market value of the common stock on the date of grant and have generally provided for vesting in equal annual amounts over four years beginning on the first anniversary of the date of the grant. No options are exercisable for periods of more than five years after date of grant. Under the 2016 Plan, each share issued under awards other than options and stock appreciation rights will reduce the number of shares reserved for issuance by two shares. Shares issued under options or stock appreciation rights will reduce the shares reserved for issuance on a share-for-share basis. The Company accounts for forfeitures as they occur. The 2016 Plan and earlier equity compensation plans, pursuant to which an aggregate of 15,495 shares of the Company’s common stock were reserved for issuance, were all approved by the Company's shareholders. As of December 31, 2023, 1,469 shares were available for future grants. The Compensation Committee of the Board of Directors administers the equity compensation plans, approves the individuals to whom awards will be granted and determines the number of shares and other terms of each award. Outstanding options under the Company's equity compensation plans at December 31, 2023 expire from April 2024 through March 2028. None of the Company’s outstanding options includes performance-based or market-based vesting conditions as of December 31, 2023. (a)Employee Stock Options The Company has estimated the fair value of each option grant on the date of grant using the Black-Scholes option-pricing model. The expected volatility assumption is based on the historical daily price data of the Company’s common stock over a period equivalent to the weighted average expected life of the Company’s options. The expected term of options granted is derived using assumed exercise rates based on historical exercise patterns and represents the period of time the options granted are expected to be outstanding. The risk-free interest rate is based on the actual U.S. Treasury zero-coupon rates for bonds matching the expected term of the option as of the option grant date. The dividend yield of zero is based upon the fact that the Company has not historically declared or paid cash dividends, and does not expect to declare or pay dividends in the foreseeable future. The per share weighted-average fair values of stock options granted during 2023 and 2022 were $4.06 and $3.13, respectively. The weighted-average assumptions used to value options as of their grant date were as follows:
| Year Ended December 31,
| 2023 |  | 2022
Risk-free interest rate | 4.49 | % |  | 3.02 | %
Expected volatility | 43.93 | % |  | 43.19 | %
Expected life (in years) | 4.30 |  | 4.24
Dividend yield | 0 | % |  | 0 | %
The changes in outstanding stock options for the year ended December 31, 2023 and 2022 are as follows:
| Number of Options |  | Weighted Average Exercise Price |  | Weighted Average Remaining Contractual Life (in Years) |  | Aggregate Intrinsic Value
Outstanding at December 31, 2022 | 1,751 |  |  | $ | 9.77 |  |  |  |  |
Granted | 317 |  |  | $ | 9.81 |  |  |  |  |
Exercised | (274) |  |  | $ | 9.07 |  |  |  |  |
Expired, canceled or forfeited | (564) |  |  | $ | 10.58 |  |  |  |  |
Outstanding at December 31, 2023 | 1,230 |  |  | $ | 9.57 |  |  | 2.67 |  | $ | — |
Exercisable at December 31, 2023 | 510 |  |  | $ | 9.56 |  |  | 1.63 |  | $ | — |
Options vested or expected to vest at December 31, 2023 | 1,230 |  |  | $ | 9.57 |  |  | 2.67 |  | $ | — |
| Number of Options |  | Weighted Average Exercise Price |  | Weighted Average Remaining Contractual Life (in Years) |  | Aggregate Intrinsic Value
Outstanding at December 31, 2021 | 2,127 |  |  | $ | 9.93 |  |  |  |  |
Granted | 414 |  |  | $ | 8.12 |  |  |  |  |
Exercised | (307) |  |  | $ | 8.05 |  |  |  |  |
Expired, canceled or forfeited | (483) |  |  | $ | 10.14 |  |  |  |  |
Outstanding at December 31, 2022 | 1,751 |  |  | $ | 9.77 |  |  | 2.19 |  | $ | 1,948 |
Exercisable at December 31, 2022 | 939 |  |  | $ | 9.98 |  |  | 1.65 |  | $ | 814 |
Options vested or expected to vest at December 31, 2022 | 1,751 |  |  | $ | 9.77 |  |  | 2.19 |  | $ | 1,948 |
The total aggregate intrinsic value of options exercised was $542 and $387 in 2023 and 2022, respectively. As of December 31, 2023, there was $2,023 of total unrecognized compensation expense related to stock options, which is expected to be recognized over a weighted-average period of 2.41 years. In 2023 and 2022, the Company recorded compensation charges of $774 and $1,023, respectively, related to stock options. Compensation costs for options subject only to service conditions that vest ratably are recognized on a straight-line basis over the requisite service period for the entire award. During 2023 and 2022, cash received under stock option plans for exercises was $2,480 and $664, respectively. (b)Restricted Stock The Company granted 217 and 249 restricted stock awards to employees under the terms of the 2016 Plan for the years ended December 31, 2023 and 2022, respectively. The restricted stock awards have generally provided for vesting annually over four years from the date of grant subject to the recipient remaining an employee through the applicable vesting dates. Compensation expense for restricted stock awards is measured at fair value on the date of grant based on the number of shares granted and the quoted market closing price of the Company’s common stock. Such value is recognized as expense over the vesting period of the award, net of forfeitures. The weighted-average grant-date fair value of restricted stock granted during 2023 and 2022 was $9.49 and $8.51 per share, respectively. As of December 31, 2023, there was $2,567 of total unrecognized compensation expense related to restricted stock awards, which is expected to be recognized over a weighted-average period of 2.34 years. Compensation costs for awards subject only to service conditions that vest ratably are recognized on a straight-line basis over the requisite service period for the entire award. Compensation cost for awards initially subject to certain performance conditions are recognized on a ratable basis over the requisite service period for the entire award. In 2023 and 2022, the Company recorded compensation charges of $1,270 and $2,297, respectively, related to restricted stock awards. Restricted stock activity under the 2016 Plan for 2023 is as follows:
| Number of Shares |  | Weighted- average grant date fair value
Outstanding at December 31, 2022, unvested | 326 |  |  | $ | 9.30 |
Granted | 217 |  |  | 9.49 |
Vested | (116) |  |  | 9.21 |
Forfeited | (72) |  |  | 9.80 |
Outstanding at December 31, 2023, unvested | 355 |  |  | $ | 9.34 |
(c)Common Stock Repurchase During the twelve months ended December 31, 2023, the Company’s Board of Directors authorized the repurchase of a portion of executive common stock. The Company repurchased 23 shares of common stock held by executives at the Company to satisfy minimum tax withholding obligations in lieu of cash payment. No shares of common stock were repurchased during the twelve months ended December 31, 2022. (d)Employee Stock Purchase Plan Under the Company's ESPP, an aggregate of 1,650 shares of common stock have been reserved for issuance, of which 763 shares remain available as of December 31, 2023. The ESPP covers all of the Company’s employees. Under the terms of the ESPP, eligible employees can elect to have up to six percent of their pre-tax compensation withheld to purchase shares of the Company’s common stock on a semi-annual basis at 85% of the market price on the first or last day of each purchase period, whichever is lower. During 2023 and 2022, shares issued under this plan were 17 and 41 shares, respectively. The Company utilizes the Black-Scholes option-pricing model to calculate the fair value of these discounted purchases. The fair value of the 15% discount is recognized as compensation expense over the purchase period. The Company applies a graded vesting approach because the ESPP provides for multiple purchase periods and is, in substance, a series of linked awards. In 2023 and 2022, the Company recorded compensation charges of $34 and $104, respectively, related to the ESPP. During 2023 and 2022, cash received under the ESPP was $124 and $308, respectively. (e)Stock-Based Compensation Expense The following presents stock-based compensation expense, including expense for the ESPP, in the Company's consolidated statements of operations for the years ended December 31, 2023 and 2022.
| 2023 |  | 2022
Cost of product sales | $ | 34 |  |  | $ | 415 |
Cost of service sales | 21 |  |  | 11 |
Research and development | 567 |  |  | 837 |
Sales, marketing and support | 222 |  |  | 362 |
General and administrative | 1,234 |  |  | 1,799 |
| $ | 2,078 |  |  | $ | 3,424 |
(f) Accumulated Other Comprehensive Loss (AOCL) Comprehensive income (loss) includes net income (loss) and unrealized gains and losses from foreign currency translation. The components of the Company’s comprehensive income (loss) and the effect on earnings for the periods presented are detailed in the accompanying consolidated statements of comprehensive income (loss).
| Foreign Currency Translation |  | Unrealized (Loss) Income on Available for Sale Marketable Securities |  |  |  | Total Accumulated Other Comprehensive Loss
Balance, December 31, 2021 | $ | (3,409) |  |  | $ | — |  |  |  |  | $ | (3,409) |
Other comprehensive loss | (689) |  |  | (12) |  |  |  |  | (701) |
Net other comprehensive loss | (689) |  |  | (12) |  |  |  |  | (701) |
Balance, December 31, 2022 | (4,098) |  |  | (12) |  |  |  |  | (4,110) |
Other comprehensive (loss) income | (87) |  |  | 12 |  |  |  |  | (75) |
Net other comprehensive (loss) income | (87) |  |  | 12 |  |  |  |  | (75) |
Balance, December 31, 2023 | $ | (4,185) |  |  | $ | — |  |  |  |  | $ | (4,185) |

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