Stockholders’ Equity (Tables)
   | 
9 Months Ended | 
Sep. 30, 2024  | 
| Equity [Abstract] | 
 
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| Schedule of Share-Based Compensation Expense | 
The following table sets forth share-based compensation expense included in the condensed consolidated statements of operations:
 
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Three Months Ended September 30, | 
 
(in thousands)  | 
2024  | 
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2023  | 
 
| Cost of revenue | 
$ | 
31  | 
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$ | 
26  | 
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| Research and development | 
461  | 
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 | 
357  | 
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| Sales and marketing | 
537  | 
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431  | 
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| General and administrative | 
875  | 
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 | 
770  | 
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| Share-based compensation expense | 
$ | 
1,904  | 
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$ | 
1,584  | 
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Nine Months Ended September 30,  | 
 
| (in thousands) | 
2024  | 
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2023  | 
 
| Cost of revenue | 
$ | 
82  | 
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$ | 
74  | 
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| Research and development | 
1,204  | 
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1,009  | 
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| Sales and marketing | 
1,482  | 
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1,277  | 
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| General and administrative | 
2,436  | 
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2,176  | 
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| Share-based compensation expense | 
$ | 
5,204  | 
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$ | 
4,536  | 
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Share-based compensation expense by type of share-based award is summarized below: 
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Three Months Ended September 30,  | 
 
(in thousands)  | 
2024  | 
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2023  | 
 
| Stock options | 
$ | 
151  | 
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$ | 
233  | 
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| RSAs and RSUs | 
1,719  | 
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1,308  | 
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| ESPP | 
34  | 
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43  | 
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$ | 
1,904  | 
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$ | 
1,584  | 
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Nine Months Ended September 30,  | 
 
(in thousands)  | 
2024  | 
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2023  | 
 
| Stock options | 
$ | 
554  | 
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$ | 
747  | 
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| RSAs and RSUs | 
4,495  | 
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3,612  | 
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| ESPP | 
155  | 
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177  | 
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$ | 
5,204  | 
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$ | 
4,536  | 
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Total unrecognized compensation expense by type of award and the weighted-average remaining requisite holding period over which such expense is expected to be recognized is as follows (in thousands, unless otherwise noted): 
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September 30, 2024  | 
 
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Unrecognized Expense | 
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Remaining Weighted-Average Recognition Period (in years) | 
 
| Stock options | 
$ | 
446  | 
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 | 
1.13 | 
 
| RSAs and RSUs | 
$ | 
9,548  | 
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 | 
1.85 | 
 
  
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| Schedule of Stock Option Activity | 
 Stock option activity during the nine months ended September 30, 2024 is summarized below: 
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Stock Options | 
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Weighted-average Exercise price per share | 
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Weighted-average Remaining Contractual Life (in years) | 
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 Intrinsic  
Value(1)
 
(in thousands) 
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| Outstanding at December 31, 2023 | 
1,478,157  | 
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$ | 
8.40  | 
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| Exercised | 
(12,000) | 
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$ | 
2.89  | 
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| Forfeited or expired | 
(7,237) | 
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$ | 
42.19  | 
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| Outstanding at September 30, 2024 | 
1,458,920  | 
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$ | 
8.28  | 
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4.74 | 
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$ | 
8,187  | 
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| Exercisable at September 30, 2024 | 
1,328,249  | 
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$ | 
8.19  | 
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4.40 | 
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$ | 
7,911  | 
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| Vested and expected to vest at September 30, 2024 | 
1,458,920  | 
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$ | 
8.28  | 
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4.74 | 
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$ | 
8,187  | 
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| (1) | 
Intrinsic value is calculated as the estimated fair value of the Company’s stock at the end of the related period less the option exercise price of in-the-money options. | 
 
  
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| Schedule of Restricted Stock Activity | 
 Restricted stock award ("RSA") activity for the nine months ended September 30, 2024 is summarized below: 
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Restricted Stock Awards | 
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Weighted - Average  Grant  Date Fair Value | 
 
| Outstanding at December 31, 2023 | 
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376,914  | 
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$ | 
12.02  | 
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| Vested | 
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(195,173) | 
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$ | 
12.93  | 
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| Forfeited | 
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(6,019) | 
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$ | 
12.35  | 
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| Outstanding at September 30, 2024 | 
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175,722  | 
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$ | 
10.99  | 
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Restricted Stock Unit Activity 
Restricted stock unit ("RSU") activity for the nine months ended September 30, 2024 is summarized below: 
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Restricted Stock Units | 
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Weighted - Average  Grant  Date Fair Value | 
 
| Outstanding at December 31, 2023 | 
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768,139  | 
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$ | 
8.15  | 
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| Granted | 
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1,197,646  | 
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$ | 
6.16  | 
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| Vested | 
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(267,328) | 
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$ | 
7.99  | 
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| Forfeited | 
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(17,849) | 
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$ | 
8.40  | 
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| Outstanding at September 30, 2024 | 
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1,680,608  | 
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$ | 
6.75  | 
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