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Stock-based Compensation (Tables)
3 Months Ended
Mar. 31, 2020
Share-based Payment Arrangement [Abstract]  
Schedule of stock-based compensation expense
Stock-based compensation expense is included in the unaudited condensed consolidated statements of operations as follows (in thousands):
 Three Months Ended March 31,
 20202019
Research and development $424  $388  
Selling, general and administrative1,745  1,675  
   Total$2,169  $2,063  
Schedule of stock-based compensation expense by security types
The following table presents total stock-based compensation expense by security type included in the unaudited condensed consolidated statements of operations for the three months ended March 31, 2020 and 2019 (in thousands):
 Three Months Ended March 31,
 20202019
Stock options$541  $554  
RSUs and RSAs599  461  
PSUs331  391  
PBOs698  657  
   Total$2,169  $2,063