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Stock-based Compensation (Tables)
 12 Months Ended
Dec. 31, 2022
Share-Based Payment Arrangement [Abstract]  
Stock Option Activity and Related Information
A summary of the Company’s stock option activity under the Plans is as follows:
SharesWeighted-
average exercise
price per share		Weighted-
average remaining
contractual
term (in years)		Aggregate
intrinsic value
(in thousands)
Outstanding at January 1, 20222,017,791 $16.93 5.3$51,105 
Canceled and forfeited(122,304)21.60 
Exercised(128,627)11.23 
Outstanding at December 31, 20221,766,860 $17.01 4.1$265 
December 31, 2022:
Options vested and expected to vest1,766,860 $17.01 4.1$265 
Options exercisable1,682,399 $16.65 3.9$265 
Company's Options Outstanding
The following table summarizes information about the Company’s stock options outstanding at December 31, 2022: 
 OutstandingExercisable
Exercise PriceNumber of
Shares		Weighted-
Average
Remaining
Contractual
Life in Years		Number of
Shares		Weighted-
Average
Remaining
Contractual
Life in Years
$1.92 – $12.56
299,786 4.5296,765 4.4
$12.77 – $14.99
465,815 2.6465,681 2.6
$15.21 – $18.55
232,108 2.5224,001 2.2
$18.68 – $22.71
297,348 4.6278,562 4.4
$23.00 – $66.91
471,803 5.8417,390 5.7
1,766,860 1,682,399 
Stock Compensation Expense
The following table sets forth stock-based compensation expense related to stock-based arrangements under the Plans as presented within the consolidated statement of operations for the years ended December 31 (in thousands):
202220212020
Cost of revenue$2,397 $1,870 $983 
Research and development5,972 5,723 3,864 
Selling, general and administrative15,330 21,270 13,643 
Total stock-based compensation expense$23,699 $28,863 $18,490 
Fair Value of Employee Option Grant The fair value of each employee stock option grant was estimated on the date of grant using the Black-Scholes option pricing model with the following assumptions:
2020
Risk-free interest rates
0.54% — 1.69%
Expected term (years)
6.08 — 6.08
Expected dividend yield—%
Expected volatility
53.0% — 59.6%