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Stock-Based Compensation (Tables) | 12 Months Ended
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Dec. 31, 2023
Share-Based Payment Arrangement [Abstract] |
Schedule of Non-Cash Stock-Based Compensation Expenses | Non-cash stock-based compensation expenses related to stock options, restricted stock grants and the ESPP were recorded in the financial statements as follows (in thousands):
| Year Ended December 31,
| 2023 |  | 2022
Cost of sales | $ | — |  |  | $ | 2 |
Sales and marketing | 955 |  |  | 1,100 |
Research and development | 1,056 |  |  | 1,082 |
General and administrative | 2,824 |  |  | 2,764 |
Total non-cash stock compensation expense | $ | 4,835 |  |  | $ | 4,948 |
Schedule of Outstanding Stock Options and Related Activity | A summary of the Company’s stock options outstanding under the 2015 OEIP and 2005 Plan as of December 31, 2023 and 2022 and the related activity during 2023 is as follows (in thousands except per share amounts):
|  | Shares |  | Weighted Avg. Exercise Price |  | Wtd. Avg. Remaining Contractual Life (Yrs) |  | Aggregate Intrinsic Value
Outstanding as of December 31, 2022 |  | 139 |  |  | $ | 3.75 |  |  | 5.10 |  | $ | 6 |
Exercised |  | — |  |  | — |  |  | — |  | $ | — |
Forfeited |  | (54) |  |  | $ | 4.26 |  |  | — |  | $ | 7 |
Expired |  | (5) |  |  | $ | 5.24 |  |  | — |  | $ | — |
Outstanding as of December 31, 2023 |  | 80 |  |  | $ | 3.30 |  |  | 3.85 |  | $ | — |
Vested and expected to vest at December 31, 2023 |  | 80 |  |  | $ | 3.30 |  |  | 3.83 |  | $ | — |
Exercisable as of December 31, 2023 |  | 75 |  |  | $ | 3.21 |  |  | 3.64 |  | $ | — |
Schedule of Assumptions Used Estimate Fair Value of Employee Stock Purchase Plans | Following is a schedule of the shares purchased, the fair value per share, and the Black-Scholes model assumptions for each offering period:
Offering Period Ended | September 30, 2023 |  | March 31, 2023 |  | September 30, 2022 |  | March 31, 2022
Shares purchased for offering period | 7,000 |  |  | 8,250 |  |  | 10,901 |  |  | 6,019
Fair value per share as of the beginning of the offering period | $ | 0.54 |  |  | $ | 0.70 |  |  | $ | 1.15 |  |  | $ | 1.61 |
Assumptions |  |  |  |  |  |  |
Risk-free interest rate (average) | 4.99 | % |  | 3.92 | % |  | 0.86 | % |  | 0.05 | %
Expected dividend yield | — |  |  | — |  |  | — |  |  | — |
Weighted average expected life (years) | 0.5 |  | 0.5 |  | 0.5 |  | 0.5
Volatility (average) | 88.0 | % |  | 27.8 | % |  | 32.5 | % |  | 43.1 | %
Schedule of Outstanding Restricted Stock Awards and Related Activity | A summary of the Company’s restricted stock awards outstanding under the 2015 OEIP and 2005 Plan as of December 31, 2023 and 2022, and the activity during years ended therein, are as follows (in thousands, except weighted average grant date fair value):
|  | Number of shares |  | Weighted average grant date fair value
Unvested at December 31, 2021 |  | 1,667 |  |  | $ | 5.83 |
Granted |  | 1,398 |  |  | $ | 3.76 |
Vested |  | (1,174) |  |  | $ | 4.87 |
Canceled and forfeited |  | (212) |  |  | $ | 6.06 |
Unvested at December 31, 2022 |  | 1,679 |  |  | $ | 4.62 |
Granted |  | 1,945 |  |  | $ | 1.54 |
Vested |  | (1,456) |  |  | $ | 3.36 |
Canceled and forfeited |  | (127) |  |  | $ | 3.38 |
Unvested at December 31, 2023 |  | 2,041 |  |  | $ | 2.66 |

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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of employee stock purchase plans, including, but not limited to: (a) expected term, (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 -Topic 718 -SubTopic 10 -Subparagraph (f)(2) -Name Accounting Standards Codification -Paragraph 2 -Section 50 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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