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Stock Option Plans (Tables)
 12 Months Ended
Dec. 31, 2020
Text Block [Abstract]  
Transaction under Stock Option Plan
Transactions under the 2012
 
Plan and the 2020
 
Plan for the years ending December 
31
,
2020
,
2019
, and
2018
were as follows:
(in thousands, except share and per share data)
   
Number of
Shares
    
Weighted-
Average Exercise
Price
     
Weighted-
Average
Contractual
Term (Years)
     
Aggregate
Intrinsic Value
  
Outstanding, December 31, 2017
      3,852,135     $ 5.12                    
Granted
      1,744,950       2.35                    
Exercised
      (104,167 )      2.35                    
Cancelled
      (215,833 )      5.72                    
    
 
 
    
 
 
                    
Outstanding, December 31, 2018
      5,277,085       4.24                    
Granted
      2,880,691       3.40                    
Exercised
      (581,105 )      3.30                    
Cancelled
      (1,733,792 )      4.21                    
    
 
 
    
 
 
                    
Outstanding, December 31, 2019
      5,842,879       3.21                    
Granted
      2,222,368       3.39                    
Exercised
      (338,333 )      2.01                    
Cancelled
      (894,528 )      4.22                    
    
 
 
    
 
 
                    
Outstanding, December 31, 2020
      6,832,386     $ 3.81        7.94      $ 812  
    
 
 
    
 
 
     
 
 
     
 
 
  
Options exercisable, December 31, 2020
      3,596,315     $ 4.17        6.90      $ 598  
    
 
 
    
 
 
     
 
 
     
 
 
  
Options exercisable, December 31, 2019
      2,765,357     $ 4.39        6.70      $ 3,603  
    
 
 
    
 
 
     
 
 
     
 
 
  
Options available for future grant at December 31, 2020
      5,714,648                            
    
 
 
                            
In September 2017, the Company granted an option for 500,000 inducement stock options, with an exercise price of $6.16 per share, which vests ratably in annual installments over three years, commencing on the first anniversary of the grant date and has a contractual term of ten years. The grant date fair value was $2.2 million.
On July 22, 2019, August 19, 2019, and November 21, 2019, the Company granted 400,000, 65,000, and 65,000 inducement stock options, with exercise prices of $5.60, $5.18, and $4.59, respectively. The options vest ratably,
Summary of Non-Vested Restricted Stock
 
A summary of the status of restricted stock as of December 31
, 2020
, 2019
and 2018
is as follows:
    
Number of
Shares
     
Weighted-Average

Grant Date Fair Value
  
Non-vested,
December 31, 2017
      1,808,559      $ 5.74  
Granted
      150,321        1.87  
Vested
      (1,005,337 )       6.62  
Cancelled
      (271,433 )       5.00  
    
 
 
     
 
 
  
Non-vested,
December 31, 2018
      682,110        3.47  
Granted
      1,519,766        2.44  
Vested
      (1,187,601 )       2.82  
Cancelled
      (74,599 )       3.41  
    
 
 
     
 
 
  
Non-vested,
December 31, 2019
      939,676        2.93  
Granted
      805,900        3.75  
Vested
      (764,360 )       3.51  
Cancelled
      (194,897 )       3.44  
    
 
 
     
 
 
  
Non-vested,
December 31, 2020
      786,319      $ 3.08