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Stock Plans (Tables) | 12 Months Ended
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Dec. 31, 2022
Share-Based Payment Arrangement [Abstract] |
Schedule of Stock-based Compensation | The following table summarizes stock-based compensation expense related to all of the Company’s stock awards included by operating expense categories, as follows:
|  |  | Twelve Months Ended December 31,
|  |  |  |  |  |  | 2022 |  | 2021 |  | 2020
Cost of revenues |  |  |  |  |  |  | $ | 788 |  |  | $ | 1,593 |  |  | $ | 2,409 |
Research and development |  |  |  |  |  |  | 1,728 |  |  | 2,862 |  |  | 4,380 |
Selling, general and administrative |  |  |  |  |  |  | 2,945 |  |  | 4,850 |  |  | 4,348 |
Total stock-based compensation expense |  |  |  |  |  |  | $ | 5,461 |  |  | $ | 9,305 |  |  | $ | 11,137 |
The following table summarizes stock-based compensation expense related to all of the Company’s stock awards included by award types, as follows:
|  |  | Twelve Months Ended December 31,
|  |  |  |  |  |  | 2022 |  | 2021 |  | 2020
Stock options |  |  |  |  |  |  | $ | 2,570 |  |  | $ | 3,748 |  |  | $ | 1,308 |
Restricted stock awards |  |  |  |  |  |  | 2,899 |  |  | 5,364 |  |  | 9,743 |
Performance Based Cash Units |  |  |  |  |  |  | (8) |  |  | 193 |  |  | 86 |
Total stock-based compensation before taxes |  |  |  |  |  |  | $ | 5,461 |  |  | $ | 9,305 |  |  | $ | 11,137 |
Tax benefit |  |  |  |  |  |  | $ | 1,062 |  |  | $ | 1,750 |  |  | $ | 1,815 |
Schedule of Fair Value Assumptions | The weighted-average assumptions used in the Black-Scholes option pricing model are as follows:
|  |  |  | Twelve Months Ended December 31,
|  |  |  |  |  |  |  | 2022 |  | 2021 |  | 2020
Expected stock price volatility |  |  |  |  |  |  |  | 74.1 | % |  | 82.3 | % |  | 74.5 | %
Risk-free interest rate |  |  |  |  |  |  |  | 3.1 | % |  | 0.7 | % |  | 1.0 | %
Expected life of options (in years) |  |  |  |  |  |  |  | 4.15 |  | 4.23 |  | 4.47
Expected dividend yield |  |  |  |  |  |  |  | 0.0 | % |  | 0.0 | % |  | 0.0 | %
Weighted-average fair value of the options |  |  |  |  |  |  |  | $ | 0.71 |  | $ | 1.83 |  | $ | 2.79
Schedule of Information about Stock Options Outstanding | The following table summarizes information about stock options outstanding as of December 31, 2022:
Options |  | Number of Options |  | Weighted-Average Exercise Price |  | Weighted-Average Remaining Contractual Term (Years) |  | Aggregate Intrinsic Value
Outstanding at December 31, 2021 |  | 4,715 |  |  | $ | 6.53 |  |  |  |  |
Options Granted |  | 3,039 |  |  | 1.22 |  |  |  |  |
Options Exercised |  | — |  |  | — |  |  |  |  |
Options Cancelled |  | (1,113) |  |  | 8.33 |  |  |  |  |
Outstanding at December 31, 2022 |  | 6,641 |  |  | $ | 3.80 |  |  | 5.28 |  | $ | — |
Vested and exercisable at December 31, 2022 |  | 2,445 |  |  | $ | 7.08 |  |  | 3.84 |  | $ | — |
Schedule of Unvested Restricted Stock and Performance Shares Activity | A summary of the Company’s unvested restricted stock at December 31, 2022, and changes during the year ended December 31, 2022, is presented below:
Unvested Restricted Stock |  | Number of Awards |  | Weighted- Average Grant Date Fair Value
Unvested at December 31, 2021 |  | 2,574 |  |  | $ | 3.57 |
Granted |  | 3,205 |  |  | 1.25 |
Granted adjustment 1 |  | 63 |  |  | 1.64 |
Vested |  | (805) |  |  | 4.28 |
Forfeited |  | (652) |  |  | 2.74 |
Unvested at December 31, 2022 |  | 4,385 |  |  | $ | 1.82 |
_____________________________ 1 Represents performance based cash units grants that vested and were paid out in form of shares of stock during the period. A summary of the Company’s unvested performance-based cash units at December 31, 2022 and changes during the year ended December 31, 2022, is presented below:
Unvested Cash Units |  | Number of Awards |  | Period end Fair Value
Unvested at December 31, 2021 |  | 1,996 |  |  | $ | 2.44 |
Granted |  | 4,672 |  |  |
Granted adjustment 1 |  | (216) |  |  |
Vested |  | (63) |  |  |
Forfeited |  | (517) |  |  |
Unvested at December 31, 2022 |  | 5,872 |  |  | $ | 0.62 |
_____________________________ 1 Includes changes in the unvested units due to performance adjustments.

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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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