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Stock-based Compensation (Tables)
9 Months Ended
Sep. 30, 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 September 30,Nine months ended September 30,
 2020201920202019
Research and development $385 $458 $1,279 $1,249 
Selling, general and administrative1,599 1,274 4,813 4,534 
   Total$1,984 $1,732 $6,092 $5,783 
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 and nine months ended September 30, 2020 and 2019 (in thousands):
 Three Months Ended September 30,Nine months ended September 30,
 2020201920202019
Stock options$619 $545 $1,735 $1,680 
RSUs and RSAs603 461 1,812 1,308 
PSUs295 368 922 1,075 
PBOs467 358 1,623 1,720 
   Total$1,984 $1,732 $6,092 $5,783