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Stockholders' Equity and Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2019
Equity [Abstract]  
Summary of Restricted Stock Awards And Units
Restricted stock award (RSA) and restricted stock unit (RSU) activity under our equity incentive plan was as follows (in thousands, except weighted average grant date fair values):
 
 
 
Number of Restricted Stock Awards
 
Weighted-Average Grant Date Fair Value
RSAs at December 31, 2018
 
115

 
$
37.15

 
Awards granted
 
403

 
18.17

 
Awards vested
 
(11
)
 
37.15

 
Awards forfeited and modified
 
(48
)
 
37.15

RSAs at December 31, 2019
 
459

 
$
20.49


 
 
 
Number of Restricted Stock Units
 
Weighted-Average Grant Date Fair Value
RSUs at December 31, 2018
 
557

 
$
30.31

 
Awards granted
 
2,107

 
17.86

 
Awards vested
 
(117
)
 
26.94

 
Awards forfeited & modified
 
(140
)
 
32.19

RSUs at December 31, 2019
 
2,407

 
$
19.47
Summary of Stock Option Activity
The following table summarizes the Company’s stock option activity during the year ended December 31, 2019 (in thousands, except weighted average exercise prices):
 
Number of Options
 
Weighted Average Exercise Price
 
Weighted Average Remaining Contractual Term (Years)
 
Aggregate Intrinsic Value
Outstanding, December 31, 2018
5,171

 
$1.60
 
7.2
 
$83,700
Options exercised
(867
)
 
$1.80
 
 
 
 
Options canceled
(65
)
 
$2.52
 
 
 
 
Outstanding, December 31, 2019
4,239

 
$1.54
 
6.1
 
$79,443
Options exercisable at December 31, 2019
3,047

 
$1.03
 
5.7
 
$58,654
Options vested as of December 31, 2019 and expected to vest after December 31, 2019
4,239

 
$1.54
 
6.1
 
$79,443
Schedule of Employee Stock Purchase Plan
Information related to activity under the 2018 ESPP was as follows (in thousands, except weighted average per share prices):
 
Year Ended
December 31,
 
2019
Shares issued
83

Weighted average per share purchase price
$
17.72

Weighted average per share discount from the fair value of our common stock on date of issuance
$
3.13
Schedule of Stock-based Compensation Expense
Total stock-based compensation expense was included in our consolidated statements of operations as follows (in thousands):
 
 
Year Ended December 31,
 
 
2019
 
2018
 
2017
Cost of revenues
 
$
1,201

 
$
456

 
$
46

Research and development
 
3,299

 
1,293

 
66

Sales, general and administrative
 
5,230

 
3,056

 
257

 
 
$
9,730

 
$
4,805

 
$
369
Share-based Payment Arrangement, Nonvested Award, Cost
As of December 31, 2019, total unrecognized stock-based compensation related to outstanding, but unvested stock awards was $49.0 million, which will be recognized over the next five years as follows (in thousands):
2020
$
17,427

2021
14,800

2022
11,076

2023
5,719

 
$
49,022