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Shareholders' Equity (Tables)

3 Months Ended

Mar. 31, 2018

The fair values of our stock option grants were estimated with the following weighted average assumptions:

The impact on our results of operations from stock-based compensation expense was as follows (in thousands, except per share amounts):

	Three Months Ended March 31,
	2018		2017
Cost of revenue — professional engineering service	$	11	$	65
Selling, general and administrative		264		284
Research and development		56		50
Total stock-based compensation expense	$	331	$	399
Per diluted share	$	0.03	$	0.03

The following table summarizes stock option activity under the Plans:

						Weighted Average
						Remaining
				Weighted Average		Contractual Life		Aggregate
	Number of Shares			Exercise Price		(in years)		Intrinsic Value
Balance at December 31, 2017		1,912,161		$	4.88		7.61	$	781,735
Granted		170,643			4.16
Exercised		(680	)		3.62
Forfeited		(11,100	)		5.28
Expired		(13,556	)		5.78
Balance at March 31, 2018		2,057,468		$	4.81		7.59	$	559,221
Vested and expected to vest at March 31, 2018		1,924,493		$	4.80		7.49	$	554,722
Exercisable at March 31, 2018		1,127,389		$	4.55		6.54	$	534,925

The following table summarizes certain information about stock options:

	Three Months Ended March 31,
	2018		2017
Weighted average grant-date fair value for options granted during the period	$	2.09	$	3.01
Options in-the-money		737,632		1,224,182
Aggregate intrinsic value of options exercised during the period	$	275	$	40,421

The following table summarizes RSU activity under the Plans:

The following table summarizes our shares of common stock reserved for future issuance under the Plans as of March 31, 2018:

	March 31, 2018
Stock options outstanding		2,057,468
Restricted stock units outstanding		102,112
Stock options available for future grant		1,033,269
Common stock reserved for future issuance		3,192,849