Biggest changeThe following table presents a reconciliation of net loss to non-GAAP net income (loss): Year Ended December 31, 2022 vs 2021 2021 vs 2020 (in thousands) 2022 2021 2020 Change Change Net loss $ (24,301 ) $ (51,260 ) $ (51,923 ) $ 26,959 $ 663 Adjustments: Depreciation 6,044 4,602 4,504 1,442 98 Stock-based compensation 42,443 40,498 25,675 1,945 14,823 Restructuring costs (102 ) 1,721 — (1,823 ) 1,721 Amortization of debt discount — — 3,566 — (3,566 ) Settlement and related costs — (460 ) 5,359 460 (5,819 ) Induced conversion expense 2,232 11,333 — (9,101 ) 11,333 Non-GAAP net income $ 26,316 $ 6,434 $ (12,819 ) $ 19,882 $ 19,253 Liquidity and Capital Resources As of December 31, 2022, we had cash, cash equivalents and short-term investments of $173.7 million, comprising cash deposits held at major financial institutions and short-term investments in a variety of securities, including U.S. government securities, treasury bills, corporate notes and bonds, commercial paper, asset-backed securities and money market funds.
Biggest changeWe have revised the prior period amounts to conform to our current period presentation. 43 Table of Contents The following table presents a reconciliation of net loss to non-GAAP net income (loss): Year Ended December 31, 2023 vs 2022 2022 vs 2021 (in thousands) 2023 2022 2021 Change Change Net loss $ (43,366 ) $ (24,301 ) $ (51,260 ) $ (19,065 ) $ 26,959 Adjustments: Depreciation and amortization 13,623 6,044 4,602 7,579 1,442 Stock-based compensation 47,986 42,443 40,498 5,543 1,945 Restructuring costs — (102 ) 1,721 102 (1,823 ) Settlement and related costs — — (460 ) — 460 Induced conversion expense — 2,232 11,333 (2,232 ) (9,101 ) Acquisition related expense 3,272 — — 3,272 — Purchase accounting adjustments 388 — — 388 — Income tax effects of adjustments (1) (2,100 ) (2,474 ) (772 ) 374 (1,702 ) Non-GAAP net income $ 19,803 $ 23,842 $ 5,662 $ (4,039 ) $ 18,180 (1) The tax effects of the adjustments are calculated using the statutory rate, taking into consideration the nature of the item and relevant taxing jurisdiction.
If future demand or market conditions are less favorable than our projections, or our product development plans change from current expectations, then a write-down of excess or obsolete inventory may be required and would be reflected in cost of goods sold in the period the updated information is known.
If future demand or market conditions are less favorable than our projections, or our product development plans change from current expectations, then a write-down of excess or obsolete inventory may be required and is reflected in cost of goods sold in the period the updated information is known.
Cost of revenue also includes charges for excess and obsolescence and warranty costs. Our gross margin varies from period to period based on mix of endpoint IC and systems, underlying product margins driven by changes in ASPs or costs, as well as from inventory excess and obsolescence charges.
Cost of revenue also includes charges for excess and obsolescence and warranty costs. Our gross margin varies from period to period based on the mix of endpoint IC and systems; underlying product margins driven by changes in mix, ASPs or costs; as well as from inventory excess and obsolescence charges.
This amount was offset by $183.6 million for the cash repurchase of approximately $76.4 million aggregate principal amount of the 2019 Notes through individual privately negotiated transactions concurrent with the offering of the 2021 Notes described in the section “ Repurchase of the Convertible Senior Notes – 2019 ” as described in Note 7 to our consolidated financial statements included elsewhere in this report.
This amount was offset by $183.6 million for the cash repurchase of approximately $76.4 million aggregate principal amount of the 2019 Notes through individual privately negotiated transactions concurrent with the offering of the 2021 Notes described in the section “ Repurchase of the Convertible Senior Notes – 2019 ” as described in Note 8 to our consolidated financial statements included elsewhere in this report.
We expect research and development expense to increase in absolute dollars in future periods as we focus on new product development and introductions.
We expect research and development expense to increase in absolute dollars in future periods as we continue to focus on new product development and introductions.
This net cash usage was due primarily to $17.6 million to repurchase the remaining $9.85 million aggregate principal amount of the 2019 Notes described in the section “ Repurchase of the Convertible Senior Notes – 2019 ” as described in Note 7 to our consolidated financial statements included elsewhere in this report.
This net cash usage was due primarily to $17.6 million to repurchase the remaining $9.85 million aggregate principal amount of the 2019 Notes described in the section “ Repurchase of the Convertible Senior Notes – 2019 ” as described in Note 8 to our consolidated financial statements included elsewhere in this report.
Restructuring costs Year Ended December 31, 2022 vs 2021 2021 vs 2020 (in thousands) 2022 2021 2020 Change Change Restructuring costs $ (102 ) $ 1,721 $ — $ (1,823 ) $ 1,721 On February 2, 2021, we restructured our go-to-market organization to strategically align our global sales, product, partner development and marketing teams.
Restructuring costs Year Ended December 31, 2023 vs 2022 2022 vs 2021 (in thousands) 2023 2022 2021 Change Change Restructuring costs $ — $ (102 ) $ 1,721 $ 102 $ (1,823 ) On February 2, 2021, we restructured our go-to-market organization to strategically align our global sales, product, partner development and marketing teams.
Please refer to the section “ Repurchase of the Convertible Senior Notes – 2019 ” as described in Note 7 to our consolidated financial statements included elsewhere in this report. We will use the rest of the net proceeds for general corporate purposes.
Please refer to the section “ Repurchase of the Convertible Senior Notes – 2019 ” as described in Note 8 to our consolidated financial statements included elsewhere in this report. We will use the rest of the net proceeds for general corporate purposes.
The 2021 Notes are convertible into cash, shares of our common stock or a combination thereof, at our election, and will mature on May 15, 2027 unless earlier repurchased, redeemed or converted in accordance with the indenture terms. The net proceeds from the 2021 Notes were approximately $278.4 million after initial debt issuance costs, fees and expenses.
The 2021 Notes are convertible into cash, shares of our common stock or a combination thereof, at our election, and will mature on May 15, 2027 unless earlier repurchased, redeemed or converted in accordance with the indenture terms. 44 Table of Contents The net proceeds from the 2021 Notes were approximately $278.4 million after initial debt issuance costs, fees and expenses.
We sell our endpoint ICs primarily to inlay manufacturers; our reader ICs primarily to OEMs and ODMs through distributors; and our readers and gateways to solutions providers, VARs and SIs, also primarily through distributors. We expect endpoint IC sales to represent the majority of our revenue for the foreseeable future.
We sell our endpoint ICs and test and measurement solutions primarily to inlay manufacturers; our reader ICs primarily to OEMs and ODMs through distributors; and our readers and gateways to solutions providers, VARs and SIs, also primarily through distributors. We expect endpoint IC sales to represent the majority of our revenue for the foreseeable future.
Year ended December 31, 2022 compared with year ended December 31, 2021 Research and development expense increased $10.0 million, due primarily to increases of $6.6 million in personnel expenses from higher headcount and a change in bonus payment structure from 100% PSUs to 50% cash and 50% PSUs, $1.9 million in infrastructure costs primarily from increased software costs, and $793,000 in stock-based compensation expense related primarily to increased outstanding equity grants.
Year ended December 31, 2022 compared with year ended December 31, 2021 Research and development expense increased $10.0 million, due primarily to increases of $6.6 million in personnel expenses from higher headcount and a change in bonus payment structure from 100% PSUs to 50% cash and 50% PSUs, $1.9 million in infrastructure costs primarily from increased software costs, and $0.8 million in stock-based compensation expense related primarily to increased outstanding equity grants.
Using our NOLs and tax credit carryforwards could be significantly reduced if a cumulative ownership change of more than 50% has occurred in our past or occurs in our future. 47 Table of Contents We do not anticipate that the amount of our existing unrecognized tax benefits will significantly increase or decrease within the next 12 months.
Using our NOLs and tax credit carryforwards could be significantly reduced if a cumulative ownership change of more than 50% has occurred in our past or occurs in our future. We do not anticipate that the amount of our existing unrecognized tax benefits will significantly increase or decrease within the next 12 months.
Our critical accounting policies and estimates include those related to: • revenue recognition; • inventory; • income taxes; and • stock-based compensation. Revenue Recognition We generate revenue primarily from sales of hardware products. We also generate revenue from software, extended warranties, enhanced maintenance, support services and NRE development services, none of which are material.
Our critical accounting policies and estimates include those related to: • revenue recognition; • inventory; • income taxes; and • stock-based compensation. 46 Table of Contents Revenue Recognition We generate revenue primarily from sales of hardware products. We also generate revenue from software, extended warranties, enhanced maintenance, support services and NRE development services, none of which are material.
This net cash usage was due primarily to investments and equipment purchases of $205.8 million and $12.1 million, respectively, partially offset by investment maturities of $114.8 million. 44 Table of Contents For the year ended December 31, 2021, we used $18.6 million of net cash from investing activities.
This net cash usage was due primarily to investments and equipment purchases of $205.8 million and $12.1 million, respectively, partially offset by investment maturities of $114.8 million. For the year ended December 31, 2021, we used $18.6 million of net cash from investing activities.
The induced conversion expense represents the fair value of the consideration issued upon conversion in excess of the fair value of the securities issuable under the original terms of the 2019 Notes. For further information on the 2019 Notes, please refer to Note 7 to our consolidated financial statements included elsewhere in this report.
The induced conversion expense represents the fair value of the consideration issued upon conversion in excess of the fair value of the securities issuable under the original terms of the 2019 Notes. For further information, please refer to Note 8 to our consolidated financial statements included elsewhere in this report.
For further information on the terms of this debt, please refer to Note 7 to our consolidated financial statements included elsewhere in this report.
For further information on the terms of this debt, please refer to Note 8 to our consolidated financial statements included elsewhere in this report.
The Plans provide for granting several available forms of stock compensation such as stock option awards, restricted stock units, or RSUs, RSUs with performance conditions, or PSUs, and RSUs with market and service conditions, or MSUs. We measure stock-based compensation costs for all share-based awards at fair value on the measurement date, which is typically the grant date.
The Plans provide for granting several forms of stock compensation such as stock option awards, restricted stock units, or RSUs, RSUs with performance conditions, or PSUs, and RSUs with market and service conditions, or MSUs. 48 Table of Contents We measure stock-based compensation costs for all share-based awards at fair value on the measurement date, which is typically the grant date.
For further information on the 2021 Notes, please refer to Note 7 to our consolidated financial statements included elsewhere in this report.
For further information on the 2021 Notes, please refer to Note 8 to our consolidated financial statements included elsewhere in this report.
Systems revenue increased $15.2 million, due primarily to increases of $7.6 million in reader IC revenue, $4.9 million in gateway revenue and $3.3 million in reader revenue offset by a decrease of $913,000 in nonrecurring engineering, or NRE, revenue.
Systems revenue increased $15.2 million, due primarily to increases of $7.6 million in reader IC revenue, $4.9 million in gateway revenue and $3.3 million in reader revenue offset by a decrease of $0.9 million in nonrecurring engineering, or NRE, revenue.
Other major factors included $15.4 million from stock options exercises and our employee stock-purchase plan, or ESPP. For the year ended December 31, 2021, we generated $112.4 million of net cash from financing activities. The net cash proceeds were driven primarily by $278.4 million net proceeds from issuing the 2021 Notes.
Other major factors included $15.4 million from stock options exercises and our ESPP. For the year ended December 31, 2021, we generated $112.4 million of net cash from financing activities. The net cash proceeds were driven primarily by $278.4 million net proceeds from issuing the 2021 Notes.
Due to the presence of NOLs in most jurisdictions, our tax years remain open for examination by taxing authorities back to 2000. Stock-Based Compensation We have various equity award plans (“Plans”) for granting share-based awards to employees, consultants and non-employee directors of the Company.
Due to our NOLs, in most jurisdictions our tax years remain open for examination by taxing authorities back to 2004. Stock-Based Compensation We have various equity award plans, or Plans for granting share-based awards to employees, consultants and non-employee directors of the Company.
Non-GAAP Financial Measures Our key non-GAAP performance measures include adjusted EBITDA and non-GAAP net income (loss), as defined below. We use adjusted EBITDA and non-GAAP net income (loss) as key measures to understand and evaluate our core operating performance and trends, to prepare and approve our annual budget and to develop short- and long-term operating plans.
We use adjusted EBITDA and non-GAAP net income (loss) as key measures to understand and evaluate our core operating performance and trends, to prepare and approve our annual budget and to develop short- and long-term operating plans.
In August 2020, the FASB issued guidance on debt with conversion and other options, or ASU 2020-06. On January 1, 2021, we adopted ASU 2020-06 using the modified retrospective transition method, accounting for the 2019 Notes on a whole-instrument basis.
In August 2020, the Financial Accounting Standards Board, or FASB, issued guidance on debt with conversion and other options, or ASU 2020-06. On January 1, 2021, we adopted Accounting Standard Update, or ASU, 2020-06 using the modified retrospective transition method, accounting for the 2019 Notes on a whole-instrument basis.
Operating Expenses Research and Development Year Ended December 31, 2022 vs 2021 2021 vs 2020 (in thousands) 2022 2021 2020 Change Change Research and development $ 74,106 $ 64,058 $ 48,590 $ 10,048 $ 15,468 Research and development expense comprises primarily personnel expenses (salaries, benefits and other employee related costs) and stock-based compensation expense for our product-development personnel; product development costs which include external consulting and service costs, prototype materials and other new-product development costs; and an allocated portion of infrastructure costs which include occupancy, depreciation and software costs.
Operating Expenses Research and Development Year Ended December 31, 2023 vs 2022 2022 vs 2021 (in thousands) 2023 2022 2021 Change Change Research and development $ 88,562 $ 74,106 $ 64,058 $ 14,456 $ 10,048 Research and development expense comprises primarily personnel expenses (salaries, benefits and other employee related costs) and stock-based compensation expense for our product-development personnel; product development costs which include external consulting and service costs, prototype materials and other new-product development costs; and an allocated portion of infrastructure costs which include occupancy, depreciation and software costs.
We eliminated approximately seven full-time positions in our go-to-market organization, representing roughly 2% of our workforce. Restructuring charges were immaterial for the year ended December 31, 2022. We incurred restructuring charges of $1.7 million for employee termination benefits as well as $50,000 in other associated legal costs for the year ended December 31, 2021.
We eliminated approximately seven full-time positions in our go-to-market organization, representing roughly 2% of our workforce. We incurred restructuring charges of $1.7 million for employee termination benefits and other associated legal costs for the year ended December 31, 2021.
Adjusted EBITDA We define adjusted EBITDA as net income (loss) determined in accordance with GAAP, excluding, if applicable for the periods presented, the effects of stock-based compensation; depreciation; restructuring costs; settlement and related costs; induced conversion expense; other income, net; interest expense; loss on debt extinguishment; and income tax benefit (expense).
Adjusted EBITDA We define adjusted EBITDA as net income (loss) determined in accordance with GAAP, excluding, if applicable for the periods presented, the effects of stock-based compensation; depreciation and amortization; restructuring costs; settlement and related costs; induced conversion expense; other income, net; interest expense; acquisition-related expense and related purchase accounting adjustments; and income tax benefit (expense).
Income Tax Expense Year Ended December 31, 2022 vs 2021 2021 vs 2020 (in thousands) 2022 2021 2020 Change Change Income tax expense $ 184 $ 153 $ 89 $ 31 $ 64 We are subject to federal and state income taxes in the United States and foreign jurisdictions.
Income Tax Expense Year Ended December 31, 2023 vs 2022 2022 vs 2021 (in thousands) 2023 2022 2021 Change Change Income tax expense $ (322 ) $ 184 $ 153 $ (506 ) $ 31 We are subject to federal and state income taxes in the United States and foreign jurisdictions.
Sales and Marketing Year Ended December 31, 2022 vs 2021 2021 vs 2020 (in thousands) 2022 2021 2020 Change Change Sales and marketing $ 37,894 $ 34,287 $ 28,663 $ 3,607 $ 5,624 39 Table of Contents Sales and marketing expense comprises primarily personnel expenses (salaries, incentive sales compensation, or commission, benefits and other employee-related costs) and stock-based compensation expense for our sales and marketing personnel; travel, advertising and promotional expenses; and an allocated portion of infrastructure costs which include occupancy, depreciation and software costs.
Sales and Marketing Year Ended December 31, 2023 vs 2022 2022 vs 2021 (in thousands) 2023 2022 2021 Change Change Sales and marketing $ 41,123 $ 37,894 $ 34,287 $ 3,229 $ 3,607 Sales and marketing expense comprises primarily personnel expenses (salaries, incentive sales compensation, or commission, benefits and other employee-related costs) and stock-based compensation expense for our sales and marketing personnel; travel, advertising and promotional expenses; and an allocated portion of infrastructure costs which include occupancy, depreciation and software costs.
Interest Expense Year Ended December 31, 2022 vs 2021 2021 vs 2020 (in thousands) 2022 2021 2020 Change Change Interest expense $ 4,923 $ 2,550 $ 5,413 $ 2,373 $ (2,863 ) Interest expense comprises primarily cash interest, amortization of debt issuance costs and debt discount.
Interest Expense Year Ended December 31, 2023 vs 2022 2022 vs 2021 (in thousands) 2023 2022 2021 Change Change Interest expense $ 4,848 $ 4,923 $ 2,550 $ (75 ) $ 2,373 Interest expense comprises primarily cash interest, amortization of debt issuance costs and debt discount.
Induced Conversion Expense Year Ended December 31, 2022 vs 2021 2021 vs 2020 (in thousands) 2022 2021 2020 Change Change Induced conversion expense $ 2,232 $ 11,333 $ — $ (9,101 ) $ 11,333 In November 2021 and June 2022, we completed a privately negotiated repurchase of $76.4 million and $9.85 million principal amounts, respectively, of the 2019 Notes (“2019 Note Repurchase”).
Induced Conversion Expense Year Ended December 31, 2023 vs 2022 2022 vs 2021 (in thousands) 2023 2022 2021 Change Change Induced conversion expense $ — $ 2,232 $ 11,333 $ (2,232 ) $ (9,101 ) In November 2021 and June 2022, we completed a privately negotiated repurchase of $76.4 million and $9.9 million principal amounts, respectively, of the 2019 Notes, also referred to as the 2019 Notes Repurchase.
As a result of many factors, such as those set forth under “Risk Factors” and elsewhere in this report, our actual results may differ materially from those anticipated in these forward-looking statements. Overview Our vision is a boundless Internet of Things, or IoT.
As a result of many factors, such as those set forth under “Risk Factors” and elsewhere in this report, our actual results may differ materially from those anticipated in these forward-looking statements.
(2) Purchase commitments comprise primarily noncancelable commitments to purchase $87.9 million of inventory as of December 31, 2022 and noncancelable software license agreements with vendors and equipment purchases.
(2) Purchase commitments comprise primarily noncancelable commitments to purchase $21.8 million of inventory as of December 31, 2023, noncancelable software license agreements with vendors and equipment purchases.
We can provide no assurance that any additional financing will be available to us on acceptable terms. 2019 Notes In December 2019, we issued the 2019 Notes in an aggregate principal amount of $86.3 million.
We can provide no assurance that any additional financing will be available to us on acceptable terms. 2021 Notes In November 2021, we issued the 2021 Notes in an aggregate principal amount of $287.5 million.
The increased product margins were driven primarily by an increase in endpoint IC margins due to product mix. Loss from operations decreased, due primarily to increased gross profit offset by increased operating expenses.
The endpoint IC revenue increase was driven primarily by higher ASP and shipment volumes. Gross margin increased, due primarily to increased product margins. The increased product margins were driven primarily by an increase in endpoint IC margins due to product mix. Loss from operations decreased, due primarily to increased gross profit offset by increased operating expenses.
The net cash usage was driven primarily by investments and equipment purchases of $84.4 million and $16.2 million, respectively, partially offset by investment maturities of $82 million. For the year ended December 31, 2020, we used $36.3 million of net cash from investing activities.
The net cash usage was driven primarily by investments and equipment purchases of $84.4 million and $16.2 million, respectively, partially offset by investment maturities of $82 million. Financing Cash Flows For the year ended December 31, 2023, we generated $8.7 million of net cash from financing activities.
As of December 31, 2022, we had working capital of $232.8 million. Historically, we have funded our operations primarily through cash generated from operations and by issuing equity securities, convertible-debt offerings and/or borrowing under our prior senior credit facility. In 2022, our principal uses of cash were funding operations to capture our market opportunity and capital expenditures.
As of December 31, 2023, we had working capital of $238.8 million. Historically, we have funded our operations primarily through cash generated from operations and by issuing equity securities, convertible-debt offerings and/or borrowing under our prior senior credit facility. In 2023, our principal uses of cash were increases in our inventory balance, our acquisition of Voyantic Oy and capital expenditures.
The ASP increase was due primarily to price increases we implemented to offset higher product costs as discussed above under "—Factors Affecting Our Performance—Average Selling Price" and product mix, the latter from a higher contribution from industrial and specialty ICs.
The ASP increase was due primarily to price increases we implemented to offset higher product costs as well as product mix, the latter from a higher contribution from industrial and specialty ICs.
Historical Cash Flow Trends The following table shows a summary of our cash flows for the periods indicated: Year Ended December 31, (in thousands) 2022 2021 2020 Net cash provided by (used in) operating activities $ 641 $ 6,465 $ (16,877 ) Net cash used in investing activities (102,799 ) (18,642 ) (36,287 ) Net cash provided by (used in) financing activities (2,148 ) 112,444 9,902 Operating Cash Flows For the year ended December 31, 2022, we generated $641,000 of net cash from operating activities.
Historical Cash Flow Trends The following table shows a summary of our cash flows for the periods indicated: Year Ended December 31, (in thousands) 2023 2022 2021 Net cash provided by (used in) operating activities $ (49,382 ) $ 641 $ 6,465 Net cash provided by (used in) investing activities 115,808 (102,799 ) (18,642 ) Net cash provided by (used in) financing activities 8,736 (2,148 ) 112,444 Operating Cash Flows For the year ended December 31, 2023, we used $49.4 million of net cash from operating activities.
Other Income, Net Year Ended December 31, 2022 vs 2021 2021 vs 2020 (in thousands) 2022 2021 2020 Change Change Other income, net $ 2,517 $ 25 $ 650 $ 2,492 $ (625 ) 40 Table of Contents Other income, net comprises primarily interest income on our short-term investments.
Other Income, Net Year Ended December 31, 2023 vs 2022 2022 vs 2021 (in thousands) 2023 2022 2021 Change Change Other income, net $ 4,644 $ 2,517 $ 25 $ 2,127 $ 2,492 Other income, net, comprises primarily interest income on our short-term investments.
Gross Profit and Gross Margin Year Ended December 31, 2022 vs 2021 2021 vs 2020 (in thousands, except percentages) 2022 2021 2020 Change Change Cost of revenue $ 119,916 $ 91,329 $ 73,783 $ 28,587 $ 17,546 Gross profit 137,884 98,954 65,140 38,930 33,814 Gross margin 53.5 % 52.0 % 46.9 % 1.5 % 5.1 % 38 Table of Contents Cost of revenue includes costs associated with manufacturing our endpoint ICs, reader ICs, readers and gateways, including direct materials and outsourced manufacturing costs as well as associated overhead costs such as logistics, quality control, planning and procurement.
Gross Profit and Gross Margin Year Ended December 31, 2023 vs 2022 2022 vs 2021 (in thousands, except percentages) 2023 2022 2021 Change Change Cost of revenue $ 155,557 $ 119,916 $ 91,329 $ 35,641 $ 28,587 Gross profit 151,982 137,884 98,954 14,098 38,930 Gross margin 49.4 % 53.5 % 52.0 % (4.1 )% 1.5 % Cost of revenue includes costs associated with manufacturing our endpoint ICs, reader ICs, readers, gateways and test and measurement solutions, including direct materials and outsourced manufacturing costs as well as associated overhead costs such as logistics, quality control, planning and procurement.
Year ended December 31, 2022 compared with year ended December 31, 2021 Other income, net increased $2.5 million, due primarily to higher interest rates on our short and long-term investments. Year ended December 31, 2021 compared with year ended December 31, 2020 Other income, net decreased $625,000, due primarily to lower interest rates on our short and long-term investments.
Year ended December 31, 2023 compared with year ended December 31, 2022 Other income, net, increased $2.1 million, due primarily to higher interest rates on our short-term investments and cash and cash equivalents. 41 Table of Contents Year ended December 31, 2022 compared with year ended December 31, 2021 Other income, net, increased $2.5 million, due primarily to higher interest rates on our short and long-term investments.
For further information on the 2019 Notes, please refer to Note 7 to our consolidated financial statements included elsewhere in this report.
For further information on Voyantic Oy acquisition, please refer to Note 6 to our consolidated financial statements included elsewhere in this report.
Our reader and gateway products are highly dependent on embedded software and cannot function without this embedded software. We account for the hardware and embedded software as a single performance obligation and recognize revenue when control is transferred.
Our reader and gateway products are highly dependent on embedded software and cannot function without this embedded software. We account for the hardware and embedded software as a single performance obligation and recognize revenue when control is transferred. Our customer contracts with multiple performance obligations generally include a combination of hardware products, extended warranty, enhanced maintenance and support services.
Results of Operations Year Ended December 31, 2022 vs 2021 2021 vs 2020 (in thousands, except percentages) 2022 2021 2020 Change Change Revenue $ 257,800 $ 190,283 $ 138,923 $ 67,517 $ 51,360 Gross profit $ 137,884 $ 98,954 $ 65,140 $ 38,930 $ 33,814 Gross margin 53.5 % 52.0 % 46.9 % 1.5 % 5.1 % Loss from operations $ (19,479 ) $ (37,249 ) $ (47,071 ) $ 17,770 $ 9,822 Year ended December 31, 2022 compared with year ended December 31, 2021 Revenue and gross profit increased, due primarily to higher endpoint IC and systems revenue.
Results of Operations Year Ended December 31, 2023 vs 2022 2022 vs 2021 (in thousands, except percentages) 2023 2022 2021 Change Change Revenue $ 307,539 $ 257,800 $ 190,283 $ 49,739 $ 67,517 Gross profit $ 151,982 $ 137,884 $ 98,954 $ 14,098 $ 38,930 Gross margin 49.4 % 53.5 % 52.0 % (4.1 )% 1.5 % Loss from operations $ (43,484 ) $ (19,479 ) $ (37,249 ) $ (24,005 ) $ 17,770 Year ended December 31, 2023 compared with year ended December 31, 2022 Revenue and gross profit increased, due primarily to higher endpoint IC and systems revenue.
Our consolidated financial statements for the years ended December 31, 2021 and December 21, 2022 use the new standard and we no longer record amortization of debt discount. We have not adjusted the comparative prior reporting period.
Our consolidated financial statements for the years ended December 31, 2021, December 21, 2022, and December 31, 2023 use the new standard and we no longer record amortization of debt discount. Year ended December 31, 2023 compared with year ended December 31, 2022 Interest expense remained comparable to the prior period.
The net cash proceeds were driven primarily by $6.2 million of net loss adjusted for non-cash items and $288,000 of working capital contribution. For the year ended December 31, 2020, we used $16.9 million of net cash from operating activities.
The net cash proceeds were driven primarily by $6.2 million of net loss adjusted for non-cash items and $0.3 million of working capital contribution. Investing Cash Flows For the year ended December 31, 2023, we generated $115.8 million of net cash from investing activities.
We do not disclose the value of unsatisfied performance obligations for (1) contracts with an original expected length of one year or less and (2) contracts for which we recognize revenue at the amount to which we have the right to invoice for services performed.
We do not disclose the value of unsatisfied performance obligations for (1) contracts with an original expected length of one year or less and (2) contracts for which we recognize revenue at the amount to which we have the right to invoice for services performed. 47 Table of Contents Inventory We state inventories at the lower of cost or estimated net realizable value using the average costing method, which approximates a first-in, first-out method.
Off-Balance-Sheet Arrangements Since inception, we have not had any relationships with unconsolidated entities, such as entities often referred to as structured finance or special-purpose entities, or financial partnerships that would have been established for the purpose of facilitating off-balance-sheet arrangements or for another contractually narrow or limited purpose. 45 Table of Contents Critical Accounting Policies and Significant Estimates Our discussion and analysis of our financial condition and results of operations are based upon our consolidated financial statements which we have prepared in accordance with GAAP.
Off-Balance-Sheet Arrangements Since inception, we have not had any relationships with unconsolidated entities, such as entities often referred to as structured finance or special-purpose entities, or financial partnerships that would have been established for the purpose of facilitating off-balance-sheet arrangements or for another contractually narrow or limited purpose.
General and Administrative Year Ended December 31, 2022 vs 2021 2021 vs 2020 (in thousands) 2022 2021 2020 Change Change General and administrative $ 45,465 $ 36,137 $ 34,958 $ 9,328 $ 1,179 General and administrative expense comprises primarily personnel expenses (salaries, benefits and other employee related costs) and stock-based compensation expense for our executive, finance, human resources and information technology personnel; legal, accounting and other professional service fees; travel and insurance expense; and an allocated portion of infrastructure costs which include occupancy, depreciation and software costs.
Year ended December 31, 2022 compared with year ended December 31, 2021 Sales and marketing expense increased $3.6 million, due primarily to increases of $2.9 million in personnel expenses from higher headcount and the change in bonus payment structure from 100% PSUs to 50% cash and 50% PSUs, and $0.6 million in marketing and advertising expenses. 40 Table of Contents General and Administrative Year Ended December 31, 2023 vs 2022 2022 vs 2021 (in thousands) 2023 2022 2021 Change Change General and administrative $ 60,828 $ 45,465 $ 36,137 $ 15,363 $ 9,328 General and administrative expense comprises primarily personnel expenses (salaries, benefits and other employee related costs) and stock-based compensation expense for our executive, finance, human resources and information technology personnel; legal, accounting and other professional service fees; travel and insurance expense; and an allocated portion of infrastructure costs which include occupancy, depreciation and software costs.
Our customer contracts with multiple performance obligations generally include a combination of hardware products, standalone software, extended warranty, enhanced maintenance and support services. For these contracts, we account for individual performance obligations separately if they are distinct. We allocate the transaction price to the separate performance obligations on a relative standalone selling-price basis.
For these contracts, we account for individual performance obligations separately if they are distinct. We allocate the transaction price to the separate performance obligations on a relative standalone selling-price basis.
The product-margin increase was due primarily to higher endpoint IC margins from a higher revenue contribution from industrial and specialty ICs. Sales of fully reserved inventory had an immaterial gross margin impact for the year ended December 31, 2022, compared to a favorable gross margin impact of 1.5% for the year ended December 31, 2021.
Excess and obsolescence charges had an immaterial gross margin impact for the year ended December 31, 2022, compared to a favorable gross margin impact of 1.5% due to the sale of fully reserved inventory for the year ended December 31, 2021.
Contract assets relate to our conditional right to consideration for our completed performance under these agreements. We record accounts receivable when the right to consideration becomes unconditional.
Contract assets relate to our conditional right to consideration for our completed performance under these agreements. We record accounts receivable when the right to consideration becomes unconditional. For the periods presented in this report, our contract assets, deferred revenue and the value of unsatisfied performance obligations for NRE development agreements are not material.
The following table presents a reconciliation of net loss to adjusted EBITDA: Year Ended December 31, 2022 vs 2021 2021 vs 2020 (in thousands) 2022 2021 2020 Change Change Net loss $ (24,301 ) $ (51,260 ) $ (51,923 ) $ 26,959 $ 663 Adjustments: Other income, net (2,517 ) (25 ) (650 ) (2,492 ) 625 Interest expense 4,923 2,550 5,413 2,373 (2,863 ) Income tax expense 184 153 89 31 64 Depreciation 6,044 4,602 4,504 1,442 98 Stock-based compensation 42,443 40,498 25,675 1,945 14,823 Restructuring costs (102 ) 1,721 — (1,823 ) 1,721 Settlement and related costs — (460 ) 5,359 460 (5,819 ) Induced conversion expense 2,232 11,333 — (9,101 ) 11,333 Adjusted EBITDA $ 28,906 $ 9,112 $ (11,533 ) $ 19,794 $ 20,645 Non-GAAP Net Income (Loss) We define non-GAAP net income (loss) as net income (loss), excluding, if applicable for the periods presented, the effects of stock-based compensation; depreciation; restructuring costs; settlement and related costs; induced conversion expense; amortization of debt discount related to the equity component of our convertible notes; and prepayment penalty on debt extinguishment. 42 Table of Contents GAAP requires that certain convertible debt instruments that may be settled in cash on conversion be accounted for as separate liability and equity components in a manner that reflects our non-convertible debt borrowing rate.
The following table presents a reconciliation of net loss to adjusted EBITDA: Year Ended December 31, 2023 vs 2022 2022 vs 2021 (in thousands) 2023 2022 2021 Change Change Net loss $ (43,366 ) $ (24,301 ) $ (51,260 ) $ (19,065 ) $ 26,959 Adjustments: Other income, net (4,644 ) (2,517 ) (25 ) (2,127 ) (2,492 ) Interest expense 4,848 4,923 2,550 (75 ) 2,373 Income tax expense (322 ) 184 153 (506 ) 31 Depreciation and amortization 13,623 6,044 4,602 7,579 1,442 Stock-based compensation 47,986 42,443 40,498 5,543 1,945 Restructuring costs — (102 ) 1,721 102 (1,823 ) Settlement and related costs — — (460 ) — 460 Induced conversion expense — 2,232 11,333 (2,232 ) (9,101 ) Acquisition related expense 3,272 — — 3,272 — Purchase accounting adjustments 388 — — 388 — Adjusted EBITDA $ 21,785 $ 28,906 $ 9,112 $ (7,121 ) $ 19,794 Non-GAAP Net Income (Loss) We define non-GAAP net income (loss) as net income (loss) excluding, if applicable for the periods presented, the effects of stock-based compensation; depreciation and amortization; restructuring costs; settlement and related costs; induced conversion expense; acquisition-related expense and related purchase accounting adjustments; and the corresponding income tax impacts of adjustments to net income (loss).
For example, in 2021 and 2022 we experienced IC wafer shortages relative to our needs because of high worldwide demand for foundry capacity. These shortages prevented us from fully meeting customer demand and, in some cases, caused customers to cancel orders, qualify alternative suppliers or purchase from our competitors.
In 2021 and 2022, demand for our endpoint ICs increased while worldwide wafer demand also increased, leading to wafer shortfalls for many semiconductor companies, including us. These wafer shortfalls prevented us from fully meeting customer demand and, in some cases, caused customers to cancel orders, qualify alternative suppliers or purchase from our competitors.
The timing of those large deployments causes large variability in our systems revenue. For example, we generated 14% of total 2019 revenue from a large North American SC&L provider in connection with a project-based gateway deployment. We did not have comparable new project-based revenue in 2020.
For example, we generated 14% of total 2019 revenue from a gateway deployment at a large North American SC&L provider. We did not have comparable project-based revenue in 2020. Similarly, in 2021, we generated 13% of our quarterly revenue from a project-based gateway deployment for RAIN-based self-checkout and loss prevention at a large Europe-based global retailer.
We have excluded these costs and expenses because we do not believe they reflect our core operations and us excluding them enables more consistent evaluation of our operating performance.
We have excluded these costs and expenses because we do not believe they reflect our core operations and us excluding them enables more consistent evaluation of our operating performance. This revision to our definition of adjusted EBITDA did not impact adjusted EBITDA for any previously reported periods because there were no items of a similar nature in those prior periods.
Year ended December 31, 2021 compared with year ended December 31, 2020 Sales and marketing expense increased $5.6 million, due primarily to increases of $3.5 million in stock-based compensation expense primarily related to PSU grant timing, and an increased number of equity grants outstanding.
Year ended December 31, 2023 compared with year ended December 31, 2022 Sales and marketing expense increased $3.2 million, due primarily to increases of $1.7 million in personnel expenses from higher headcount offset by lower commission expense, $0.8 million in stock-based compensation expense related primarily to increased outstanding equity grants, and $0.5 million in travel expenses.
We expect short-term demand to remain unpredictable in scope and timing. Longer term, we believe our endpoint IC opportunity will continue to grow, but we cannot predict whether historical annual growth rates are indicative of the pace of future growth. Our systems business, at least for our readers and gateways, is impacted by large-scale deployments at discrete end users.
However, we cannot predict whether historical annual growth rates are indicative of the pace of future growth. Our systems business, at least for readers and gateways, depends significantly on large-scale deployments at discrete end users, and deployment timing causes large yearly variability in our systems revenue.
Year ended December 31, 2022 compared with year ended December 31, 2021 41 Table of Contents Income tax expense remained comparable to the prior period. Year ended December 31, 2021 compared with year ended December 31, 2020 Income tax expense remained comparable to the prior period.
Year ended December 31, 2022 compared with year ended December 31, 2021 Income tax expense remained comparable to the prior period. 42 Table of Contents Non-GAAP Financial Measures Our key non-GAAP performance measures include adjusted EBITDA and non-GAAP net income (loss), as defined below.
Revenue Year Ended December 31, 2022 vs 2021 2021 vs 2020 (in thousands) 2022 2021 2020 Change Change Endpoint ICs $ 191,532 $ 139,250 $ 102,326 $ 52,282 $ 36,924 Systems 66,268 51,033 36,597 15,235 14,436 Total revenue $ 257,800 $ 190,283 $ 138,923 $ 67,517 $ 51,360 We currently derive substantially all our revenue from sales of endpoint ICs, reader ICs, readers and gateways.
The operating expense increase was due primarily to higher research and development and general and administrative costs. 38 Table of Contents Revenue Year Ended December 31, 2023 vs 2022 2022 vs 2021 (in thousands) 2023 2022 2021 Change Change Endpoint ICs $ 234,426 $ 191,532 $ 139,250 $ 42,894 $ 52,282 Systems 73,113 66,268 51,033 6,845 15,235 Total revenue $ 307,539 $ 257,800 $ 190,283 $ 49,739 $ 67,517 We currently derive substantially all our revenue from sales of endpoint ICs, reader ICs, readers, gateways and test and measurement solutions.
Year ended December 31, 2021 compared with year ended December 31, 2020 37 Table of Contents Revenue and gross profit increased, due primarily to higher endpoint IC and systems revenue. Gross margin increased, due primarily to 2020 excess and obsolescence charges as well as 2021 sales of fully reserved inventory and increased product margins.
Year ended December 31, 2023 compared with year ended December 31, 2022 Gross profit increased $14.1 million, due primarily to increased endpoint IC and systems revenue. Gross margin decreased, due primarily to decreased product margins and to a lesser extent higher excess and obsolescence charges and indirect costs.
Year ended December 31, 2021 compared with year ended December 31, 2020 General and administrative expense increased $1.2 million due primarily to increases of $3.6 million in stock-based compensation expense primarily related to PSU grant timing, and an increased number of equity grants outstanding.
Year ended December 31, 2023 compared with year ended December 31, 2022 Research and development expense increased $14.5 million, due primarily to increases of $6.0 million in personnel expenses from higher headcount, $3.3 million in stock-based compensation expense related primarily to increased outstanding equity grants, $3.1 million in product development costs, and $2.0 million in infrastructure costs primarily from increased depreciation and software costs.
Practical Expedients and Exemptions: We expense sales commissions when incurred because we expect the amortization period to be one year or less. We record these costs within sales and marketing expenses.
We present revenue net of sales tax in our consolidated statements of operations. We include shipping charges billed to customers in revenue and the related shipping costs in cost of revenue. Practical Expedients and Exemptions: We expense sales commissions when incurred because we expect the amortization period to be one year or less.
The net cash usage was driven primarily by $17.8 million of net loss adjusted for non-cash items, partially offset by $963,000 of working capital contribution. Investing Cash Flows For the year ended December 31, 2022, we used $102.8 million of net cash from investing activities.
This net cash usage was due primarily to $68.2 million of working capital usage due primarily to higher inventory and lower accounts payable partially offset by $18.9 million of net loss adjusted for non-cash items. For the year ended December 31, 2022, we generated $0.6 million of net cash from operating activities.
Contractual Obligations The following table reflects a summary of our contractual obligations as of December 31, 2022: Payments Due By Period Total Less Than 1 Year 1-3 Years 3-5 Years More Than 5 Years (in thousands) Convertible senior notes (1) $ 302,055 $ 3,234 $ 6,469 $ 292,352 $ — Operating lease obligations Operating lease obligations 17,664 4,059 7,772 4,642 1,191 Sublease income (123 ) (123 ) — — — Net operating lease commitments 17,541 3,936 7,772 4,642 1,191 Purchase commitments (2) 98,182 98,182 — — — Total $ 417,778 $ 105,352 $ 14,241 $ 296,994 $ 1,191 (1) The 2021 Notes include $14.6 million in interest payments.
Contractual Obligations The following table reflects a summary of our contractual obligations as of December 31, 2023: Payments Due By Period Total Less Than 1 Year 1-3 Years 3-5 Years More Than 5 Years (in thousands) Convertible senior notes (1) $ 298,820 $ 3,234 $ 6,469 $ 289,117 $ — Operating lease obligations Operating lease obligations 14,416 4,120 8,330 1,417 549 Purchase commitments (2) 31,003 30,265 738 — — Total $ 344,239 $ 37,619 $ 15,537 $ 290,534 $ 549 (1) The 2021 Notes include $11.3 million in interest payments.
Regardless of the uneven pace of retail, SC&L and other industry adoption, we believe the underlying, long-term trend is continued RAIN adoption and we continue investing in new products. In our endpoint IC business, in 2020 we introduced the Impinj M700 family, with significant performance advantages over other endpoint ICs on the market.
Regardless of the uneven pace of retail, SC&L and other industry adoption and growth rates, we believe the long-term trend is continued RAIN adoption and growth and we intend to continue investing in developing new products and expanding our product offerings for the foreseeable future.
The endpoint IC revenue increase was driven primarily by higher ASP and shipment volumes when compared to the prior year period. Gross margin increased, due primarily to increased product margins. The increased product margins were driven primarily by an increase in endpoint IC margins due to product mix.
The endpoint IC revenue increase was driven primarily by higher shipment volumes partially offset by lower average ASP due to mix, and the systems revenue increase was due to higher shipment volumes. Gross margin decreased due primarily to decreased product margins and, to a lesser extent, higher excess and obsolescence charges and indirect costs.
These inventory dynamics can impact some or all of our products. High inventory levels can increase expenses, cause product obsolescence and/or increase reserves, negatively affecting our business. Low inventory levels can cause lengthened lead times, missed opportunities, market-share loss and/or damaged customer relationships, also negatively affecting our business.
As a result, we sometimes experience inventory overages or shortages. Inventory overages can increase expenses, expose us to product obsolescence and/or increased reserves and negatively affect our business. Inventory shortages can cause long lead times, missed opportunities, market-share losses and/or damaged customer relationships, also negatively affecting our business.
We recognize contract liabilities as revenue when we transfer control of the promised goods or services to our customers. Payment terms typically range from 30 to 120 days. We present revenue net of sales tax in our consolidated statements of operations. We include shipping charges billed to customers in revenue and the related shipping costs in cost of revenue.
If a customer pays consideration before we transfer a good or service under the contract, then we classify those amounts as contract liabilities, or deferred revenue. We recognize contract liabilities as revenue when we transfer control of the promised goods or services to our customers. Payment terms typically range from 30 to 120 days.
This evaluation includes an analysis of inventory on hand, current and forecasted demand, product development plans, and market conditions.
Inventories comprise raw materials, work-in-process and finished goods. We continuously assess our inventory value and write down its value for estimated excess and obsolete inventory. This evaluation includes an analysis of inventory on hand, current and forecasted demand, product development plans and market conditions.
Year ended December 31, 2022 compared with year ended December 31, 2021 Cost of revenue increased $28.6 million, due primarily to increased endpoint IC and systems revenue. Gross margin increased, due primarily to increased product margins, with fluctuations that offset one another related to reduced sales of fully reserved inventory and higher indirect costs.
Gross margin increased, due primarily to increased product margins, with offsetting fluctuations from reduced sales of fully reserved inventory and higher indirect costs. The product-margin increase was due primarily to higher endpoint IC margins from a higher revenue contribution from industrial and specialty ICs.
We substantially completed our restructuring by June 30, 2021. For further information on this restructuring, please refer to Note 17 to our consolidated financial statements included elsewhere in this report.
Restructuring charges were immaterial for the year ended December 31, 2022 and there were no restructuring charges for the year ended December 31, 2023. For further information on this restructuring, please refer to Note 18 to our consolidated financial statements included elsewhere in this report.
Other major factors included $17.6 million from exercised stock options and our employee stock purchase plan. For the year ended December 31, 2020, we generated $9.9 million of net cash from financing activities. The net cash proceeds were driven primarily by $10.2 million from exercised stock options and our employee stock purchase plan.
These net cash proceeds were due to $8.7 million from stock-option exercises and our employee stock purchase plan, or ESPP. 45 Table of Contents For the year ended December 31, 2022, we used $2.2 million of net cash from financing activities.
Year ended December 31, 2021 compared with year ended December 31, 2020 Endpoint IC revenue increased $36.9 million, due primarily to a $44.5 million increase in shipment volumes, offset by a $7.6 million decrease due to lower ASPs.
Year ended December 31, 2023 compared with year ended December 31, 2022 Endpoint IC revenue increased $42.9 million, due primarily to a $68.9 million increase from higher shipment volumes offset by a $26.0 million decrease due to ASP, the latter due primarily to lower revenue contribution from industrial and specialty endpoint ICs as well mix within those industrial and specialty ICs.
The net cash usage was driven primarily by investments and equipment purchases of $82.7 million and $3.1 million, respectively, partially offset by investment maturities of $49.5 million. Financing Cash Flows For the year ended December 31, 2022, we used $2.2 million of net cash from financing activities.
These net cash proceeds were due primarily to investment maturities of $144.4 million and sale of investments of $13.4 million, partially offset by cash paid for the Voyantic Oy acquisition of $23.4 million and property and equipment purchases of $18.6 million. For the year ended December 31, 2022, we used $102.8 million of net cash from investing activities.
Year ended December 31, 2021 compared with year ended December 31, 2020 Cost of revenue increased $17.5 million, due primarily to increased endpoint IC and systems revenue.
Excess and obsolescence charges had an immaterial gross margin impact for the years ended December 31, 2023 and 2022. 39 Table of Contents Year ended December 31, 2022 compared with year ended December 31, 2021 Gross profit increased $38.9 million, due primarily to increased endpoint IC and systems revenue.
In the near term, we expect product margins to be volatile based on product mix and the timing of our price changes. 36 Table of Contents Seasonality We typically renegotiate pricing with most of our endpoint IC OEMs with an effective date of the first quarter of the calendar year, reducing revenue and gross margins in the first quarter compared to prior periods.
We did not have comparable project-based revenue in 2022 or 2023. Seasonality and Pricing We typically negotiate pricing with most of our endpoint IC OEMs with an effective date of the first quarter of the calendar year.
We believe this seasonality is due to the availability of residual funding for capital expenditures prior to the end of many end users’ fiscal years. Like for our endpoint ICs, we did not see these historical trends in 2022 and may not see them in 2023.
Endpoint IC volumes tend to be lower in the fourth quarter than in the third quarter. System sales tend to be higher in the fourth quarter and lower in the first quarter, we believe due to the availability of residual funding for capital expenditures prior to the end of many end users’ fiscal years.
Timing and Complexity of End User Deployments From 2010 to 2022, our endpoint IC sales volumes increased at a compounded annual growth rate of 26%. However, the pace has been uneven and unpredictable.
From 2010 to 2023, our overall endpoint IC 37 Table of Contents sales volumes increased at a compounded annual growth rate of 26%; however. we have experienced declines in endpoint IC sales volumes during various periods.
Year ended December 31, 2021 compared with year ended December 31, 2020 Research and development expense increased $15.5 million, due primarily to increases of $6.9 million in stock-based compensation expense primarily related to PSU grant timing, and to a lesser extent, an increased number of equity grants outstanding.
Year ended December 31, 2023 compared with year ended December 31, 2022 General and administrative expense increased $15.4 million, due primarily to increases of $11.0 million in professional services related primarily to non-settlement-related legal fees and transaction expenses for the Voyantic Oy acquisition, $2.5 million in personnel expenses from higher headcount, $1.1 million in stock-based compensation expense related primarily to increased outstanding equity grants, and $0.5 million in infrastructure expenses primarily related to rent and facilities.