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Stock Option Plans (Tables) | 12 Months Ended
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Dec. 31, 2021
Disclosure of Compensation Related Costs, Share-based Payments [Abstract] |
Stock Option Activity Under Stock Option Plan | Stock option activity under the Company's stock options plans for the years ending December 31, 2021 and 2020 were as follows:
(in thousands, except share and per share data) |  | Number of Shares |  |  | Weighted- Average Exercise Price |  |  | Weighted- Average Contractual Term (Years) |  |  | Aggregate Intrinsic Value |
Outstanding, December 31, 2019 |  |  | 5,842,879 |  |  | 3.21 |  |  |  |  |  |  |
Granted |  |  | 2,222,368 |  |  | 3.39 |  |  |  |  |  |  |
Exercised |  |  | (338,333 | ) |  | 2.01 |  |  |  |  |  |  |
Cancelled |  |  | (886,195 | ) |  | 4.22 |  |  |  |  |  |  |
Outstanding, December 31, 2020 |  |  | 6,840,719 |  |  | 3.81 |  |  |  |  |  |  |
Granted |  |  | 9,380,438 |  |  | 2.62 |  |  |  |  |  |  |
Exercised |  |  | (363,109 | ) |  | 2.86 |  |  |  |  |  |  |
Cancelled |  |  | (5,192,179 | ) |  | 3.65 |  |  |  |  |  |  |
Outstanding, December 31, 2021 |  |  | 10,665,869 |  |  | $ | 2.87 |  |  |  | 8.67 |  |  | $ | — |
Options exercisable, December 31, 2021 |  |  | 4,410,312 |  |  | $ | 3.85 |  |  |  | 7.53 |  |  | $ | — |
Options exercisable, December 31, 2020 |  |  | 3,596,315 |  |  | $ | 4.17 |  |  |  | 6.90 |  |  | $ | 598 |
Options available for future grant at December 31, 2021 |  |  | 30,564 |  |  |  |  |  |  |  |  |  |
Summary of Non-Vested Restricted Stock | A summary of the status of restricted stock as of December 31, 2021 and 2020 is as follows:
|  | Number of Shares |  |  | Weighted-Average Grant Date Fair Value |
Non-vested, December 31, 2019 |  |  | 939,636 |  |  |  | 2.93 |
Granted |  |  | 805,900 |  |  |  | 3.75 |
Vested |  |  | (764,359 | ) |  |  | 3.51 |
Cancelled |  |  | (194,897 | ) |  |  | 3.44 |
Non-vested, December 31, 2020 |  |  | 786,280 |  |  |  | 3.08 |
Granted |  |  | 1,601,224 |  |  |  | 2.60 |
Vested |  |  | (754,137 | ) |  |  | 3.40 |
Cancelled |  |  | (434,787 | ) |  |  | 3.45 |
Non-vested, December 31, 2021 |  |  | 1,198,580 |  |  | $ | 2.10 |

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