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Stock-Based Compensation (Tables)
 9 Months Ended
Sep. 30, 2016
Disclosure of Compensation Related Costs, Share-based Payments [Abstract]  
Stock-Based Compensation
The following table summarizes the components and classification of stock-based compensation expense related to stock options, restricted stock units and awards and the 2011 ESPP for the three and nine months ended September 30, 2016 and 2015 (in thousands):

 
Three Months Ended September 30,

Nine Months Ended September 30,
 
2016

2015

2016

2015
Stock options
$
2,550


$
2,354


$
6,185


$
7,554

RSUs
967


1,061


2,987


3,913

ESPP
34


(160
)

(211
)

66

Stock-based compensation expense
$
3,551


$
3,255


$
8,961


$
11,533

Research and development
$
682


$
1,011


$
1,983


$
3,595

Sales, general and administrative
2,869


2,244


6,978


7,938

Stock-based compensation expense
$
3,551


$
3,255


$
8,961


$
11,533