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Stock Based Compensation (Tables) | 6 Months Ended
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Jun. 30, 2023
Share-Based Payment Arrangement [Abstract] |
Schedule of Stock Based Compensation Expenses | Stock-based compensation is recorded in the consolidated statements of operations as fol lows (in thousands):
|  | Three months ended June 30, |  |  | Six months ended June 30, |
|  | 2023 |  |  | 2022 |  |  | 2023 |  |  | 2022 |
Cost of goods sold |  | $ | 29 |  |  | $ | 22 |  |  | $ | 44 |  |  | $ | 26 |
Research and development |  |  | 280 |  |  |  | 278 |  |  |  | 517 |  |  |  | 554 |
Sales and marketing |  |  | 115 |  |  |  | 296 |  |  |  | 276 |  |  |  | 583 |
General and administrative |  |  | 544 |  |  |  | 618 |  |  |  | 1,112 |  |  |  | 1,292 |
Total stock-based compensation expense |  | $ | 968 |  |  | $ | 1,214 |  |  | $ | 1,949 |  |  | $ | 2,455 |
Summary of Outstanding Stock Option Activity | 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 |  |  | 267 |  |  | $ | 5.71 |  |  |  |  |  |
Exercised |  |  | (12 | ) |  | $ | 2.30 |  |  |  |  | $ | 40 |
Expired/Forfeited |  |  | (191 | ) |  | $ | 13.08 |  |  |  |  |  |
Balance at June 30, 2023 |  |  | 2,129 |  |  | $ | 10.95 |  |  |  | 6.4 |  | $ | 608 |
Vested and exercisable at June 30, 2023 |  |  | 1,491 |  |  | $ | 11.45 |  |  |  | 5.3 |  | $ | 541 |
Vested and expected to vest at June 30, 2023 |  |  | 2,129 |  |  | $ | 10.95 |  |  |  | 6.4 |  | $ | 608 |
Summary of Outstanding Restricted Stock Unit Activity | The following table summarizes the Company's restricted stock unit (RSU) 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 |  |  | 583 |  |  | $ | 5.27 |
Vested and released |  |  | (284 | ) |  | $ | 8.06 |
Forfeited |  |  | (91 | ) |  | $ | 9.40 |
Balance at June 30, 2023 |  |  | 652 |  |  | $ | 7.91 |
Schedule of Performance Stock Unit | 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 June 30, 2023 |  |  | 114 |  |  | $ | 2.07 |

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