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)

v3.23.2
Stock-Based Compensation - Stock-Based Compensation and Estimated Unrecognized Expense Related to Stock Options and RSUs (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Equity Incentive Plans        
Total stock-based compensation $ 1,359 $ 1,436 $ 2,801 $ 2,408
Stock options        
Equity Incentive Plans        
Total stock-based compensation 328 207 533 413
Stock options unrecognized expense 2,717   $ 2,717  
Remaining vesting period (in years)     1 year 8 months 12 days  
Stock options | Cost of revenues        
Equity Incentive Plans        
Total stock-based compensation 5 5 $ 7 10
Stock options | Research and development        
Equity Incentive Plans        
Total stock-based compensation 1 10 7 19
Stock options | Selling, general and administrative        
Equity Incentive Plans        
Total stock-based compensation 322 192 519 384
Restricted stock units        
Equity Incentive Plans        
Total stock-based compensation 1,031 1,229 $ 2,268 1,995
Remaining vesting period (in years)     1 year 6 months  
Restricted stock units unrecognized expense 8,458   $ 8,458  
Restricted stock units | Cost of revenues        
Equity Incentive Plans        
Total stock-based compensation 73 53 160 107
Restricted stock units | Research and development        
Equity Incentive Plans        
Total stock-based compensation (7) 33 54 79
Restricted stock units | Selling, general and administrative        
Equity Incentive Plans        
Total stock-based compensation $ 965 $ 1,143 $ 2,054 $ 1,809