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Equity Incentive Plans and Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2019
Share-based Payment Arrangement [Abstract]  
Summary of Stock-Based Compensation Expense
Stock-based compensation expense is included in the following line items in the accompanying consolidated statements of operations for the years ended December 31, 2019, 2018 and 2017 (in thousands):
 
2019
 
2018
 
2017
Cost of revenue
$
995

 
$
911

 
$
951

Sales and marketing
2,385

 
3,144

 
3,827

Research and development
1,898

 
2,152

 
2,260

General and administrative
3,698

 
4,391

 
4,909

 
$
8,976

 
$
10,598

 
$
11,947
Summary of Weighted-Average Assumptions Used for Estimating Fair Value of Stock Granted
The following table summarizes the assumptions used for estimating the fair value of stock options granted for the years ended December 31, 2019, 2018 and 2017:
 
2019
 
2018
 
2017
Risk-free interest rate
1.8% - 2.5%
 
2.7% - 2.9%
 
1.4% - 2.1%
Expected term (years)
6.25
 
6.25
 
6.25
Expected volatility
37% - 41%
 
43%
 
45% - 51%
Dividend yield
0%
 
0%
 
0%
Summary of Stock Option Activity
The following is a summary of the option activity for the year ended December 31, 2019:
 
Number of
Options
 
Weighted Average
Exercise Price
 
Weighted
Average
Remaining
Contractual
Term
 
Aggregate
Intrinsic Value
 
 
 
 
 
(in years)
 
(in thousands)
Outstanding balance at December 31, 2018
2,208,141

 
$
10.57

 
 
 
 
Granted
554,545

 
12.07

 
 
 
 
Exercised
(101,103
)
 
9.63

 
 
 
 
Forfeited
(363,401
)
 
12.74

 
 
 
 
Expired
(101,416
)
 
13.99

 
 
 
 
Outstanding balance at December 31, 2019
2,196,766

 
$
10.47

 
6.28
 
$
1,478

Exercisable at December 31, 2019
1,357,114

 
$
9.63

 
4.95
 
$
1,464

Vested and expected to vest at December 31, 2019
2,047,715

 
$
10.38

 
6.13
 
$
1,475
Summary of Restricted Stock Units Award Activity
The following table summarizes the RSU activity for the year ended December 31, 2019:
 
Number of RSUs
 
Weighted Average Grant-Date Fair Value
Unvested RSUs as of December 31, 2018
2,216,430

 
$
11.87

Granted
1,301,803

 
9.89

Vested
(920,627
)
 
11.11

Forfeited
(510,960
)
 
11.94

Unvested RSUs as of December 31, 2019
2,086,646

 
$
10.93