Quarterly report pursuant to Section 13 or 15(d)

Stock-Based Compensation - Stock-Based Compensation and Estimated Unrecognized Expense Related to Stock Options and RSUs (Details)

v3.23.1
Stock-Based Compensation - Stock-Based Compensation and Estimated Unrecognized Expense Related to Stock Options and RSUs (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Equity Incentive Plans    
Total stock-based compensation $ 1,442 $ 972
Stock options    
Equity Incentive Plans    
Total stock-based compensation 205 206
Stock options unrecognized expense $ 1,907  
Remaining vesting period (in years) 2 years  
Stock options | Cost of revenues    
Equity Incentive Plans    
Total stock-based compensation $ 2 5
Stock options | Research and development    
Equity Incentive Plans    
Total stock-based compensation 6 9
Stock options | Selling, general and administrative    
Equity Incentive Plans    
Total stock-based compensation 197 192
Restricted stock units    
Equity Incentive Plans    
Total stock-based compensation $ 1,237 766
Remaining vesting period (in years) 2 years 4 months 24 days  
Restricted stock units unrecognized expense $ 10,079  
Restricted stock units | Cost of revenues    
Equity Incentive Plans    
Total stock-based compensation 87 54
Restricted stock units | Research and development    
Equity Incentive Plans    
Total stock-based compensation 61 46
Restricted stock units | Selling, general and administrative    
Equity Incentive Plans    
Total stock-based compensation $ 1,089 $ 666