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Stock Based Compensation | 3 Months Ended
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Mar. 31, 2023
Share-Based Payment Arrangement [Abstract] |
Stock Based Compensation | Note 14. Stock Based Compensation Stock-based compensation expense Stock-based compensation is recorded in the consolidated statements of operations as fol lows (in thousands):
|  | Three months ended March 31, |
|  | 2023 |  |  | 2022 |
Cost of goods sold |  | $ | 15 |  |  | $ | 13 |
Research and development |  |  | 237 |  |  |  | 267 |
Sales and marketing |  |  | 161 |  |  |  | 287 |
General and administrative |  |  | 568 |  |  |  | 674 |
Total stock-based compensation expense |  | $ | 981 |  |  | $ | 1,241 |
Stock Options The following table summarizes the outstanding stock option activity during the period indi cated (shares in thousands):
|  |  |  |  | Weighted average |  |  |
|  | Number of stock options |  |  | Exercise price |  |  | Remaining contractual term (in years) |  | Aggregate Intrinsic Value (in thousands) |
Balance at December 31, 2022 |  |  | 2,065 |  |  | $ | 11.78 |  |  |  | 6.7 |  | $ | 758 |
Granted |  |  | 257 |  |  | $ | 6.03 |  |  |  |  |  |
Expired/Forfeited |  |  | (98 | ) |  | $ | 15.08 |  |  |  |  |  |
Balance at March 31, 2023 |  |  | 2,224 |  |  | $ | 11.20 |  |  |  | 6.6 |  | $ | 604 |
Vested and exercisable at March 31, 2023 |  |  | 1,477 |  |  | $ | 11.35 |  |  |  | 5.5 |  | $ | 573 |
Vested and expected to vest at March 31, 2023 |  |  | 2,224 |  |  | $ | 11.20 |  |  |  | 6.6 |  | $ | 604 |
The weighted average grant date fair value of options granted during the three months ended March 31, 2023 was $3.13. The grant-date fair value of each option award is estimated on the date of grant using the Black-Scholes-Merton option-pricing model. For stock options vested and expected to vest, the aggregate intrinsic value as of March 31, 2023 was $0.6 million. At March 31, 2023, there was $3.6 million of unrecognized compensation cost related to unvested stock options granted under the Company’s equity plans that is expected to be recognized over the next 2.6 years. Restricted Stock The following table summarizes the Company's restricted stock unit activity during the period indi cated (shares in thousands):
|  | Restricted stock units |  |  | Weighted average grant date fair value |
Balance at December 31, 2022 |  |  | 444 |  |  | $ | 11.78 |
Grants |  |  | 568 |  |  | $ | 5.27 |
Vested and released |  |  | (278 | ) |  | $ | 7.85 |
Forfeited |  |  | (27 | ) |  | $ | 12.91 |
Balance at March 31, 2023 |  |  | 708 |  |  | $ | 8.05 |
As of March 31, 2023, there was $5.1 million of total unrecognized compensation cost related to unvested restricted stock units having a weighted average remaining contractual term of 3.4 years. Performance Stock Units The following table summarizes the Company's performance stock unit (PSU) activity during the period indi cated (shares in thousands):
|  | Performance stock units |  |  | Weighted average grant date fair value |
Balance at December 31, 2022 |  |  | 137 |  |  | $ | 2.09 |
Grants |  |  | — |  |  | $ | — |
Vested and released |  |  | — |  |  | $ | — |
Forfeited |  |  | (23 | ) |  | $ | 2.20 |
Balance at March 31, 2023 |  |  | 114 |  |  | $ | 2.07 |
Service as well as market and performance conditions determine the number of PSUs that the holder will earn from 0% to 150% of the target number of shares. The per centage received is based on the Company common stock price targets over a three-year service period. Additionally, the Company must achieve or exceed 75% of the year to date revenue target measured at the end of the quarter in which the price target is achieved. As of March 31, 2023, there was $0.2 million of total unrecognized compensation cost related to unvested PSUs having a weighted average remaining contractual term of 2.0 years. We estimate the fair value of PSUs with a market condition using a Monte Carlo simulation model as of the date of grant using historical volatility. Share-Settled Obligation During the three months ended March 31, 2023, the Company settled $0.9 million of share-settled 2022 bonus awards by granting 187,200 immediately vested RSUs. As of March 31, 2023, the Company had no liability classified restricted stock unit payout obligations. Employee Stock Purchase Plan (ESPP) The Company maintains the 2016 Employee Stock Purchase Plan (ESPP) that provides employees an opportunity to purchase common stock through payroll deductions. The ESPP is implemented through consecutive 6-month offering periods commencing on March 1 and September 1 of each year. The purchase price is set at 85% of the fair market value of the Company's common stock on either the first or last trading day of the offering period, whichever is lower. Annual contributions are limited to the lower of 20% of an employee's eligible compensation or such other limits as apply under Section 423 of the Internal Revenue Code. The ESPP is intended to qualify as an employee stock purchase plan for purposes of Section 423 of the Internal Revenue Code. Based on the 15% discount and the fair value of the option feature of the ESPP, it is considered compensatory. Compensation expense is calculated using the fair value of the employees’ purchase rights under the Black-Scholes model. The Company currently uses authorized and unissued shares to satisfy share award exercises. During the three months ended March 31, 2023, the Company received $0.1 million from the issuance of 21,300 shares under the ESPP.

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