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Stock-Based Incentive Compensation Plans (Tables)
 6 Months Ended
Jun. 30, 2020
Share-based Payment Arrangement [Abstract]  
Schedule of Stock Option Activity Under Stock Option Plan
The table below summarizes the stock option activity for the six months ended June 30, 2020:
Number of
Shares		Weighted-
Average
Exercise
Price
Outstanding as of December 31, 20192,718,971  $8.02
Granted
26,236  17.31
Exercised
(89,942) 4.00
Canceled and forfeited(2,582) 14.75
Outstanding as of June 30, 20202,652,683  8.24
Schedule of Valuation Assumptions Related to Stock Option Awards The table below summarizes the weighted average grant date fair value per share and the assumptions used to estimate the grant date fair value using the Black-Scholes option-pricing model of the stock options granted during the periods presented:
Three Months Ended June 30,Six Months Ended June 30,
2020201920202019
Weighted average grant date fair value per share
—$8.00$8.37$9.79
Expected term (years)
—5.0to7.05.5to7.05.0to7.0
Expected volatility
—46.6%to47.2%46.7%to47.2%41.7%to47.2%
Risk-free interest rate
—1.83%to2.41%1.56%to1.64%1.83%to2.59%
Dividend yield
——%—%—%
Schedule of Restricted Stock Unit Activity
The table below summarizes restricted stock units activity for the six months ended June 30, 2020:
Number of SharesWeighted Average Grant Date Fair Value
Outstanding as of December 31, 2019543,041$19.72
Granted945,68220.07
Vested(148,968) 20.84
Canceled and forfeited(6,254)18.51
Outstanding as of June 30, 20201,333,50119.85
Schedule of Stock-Based Compensation
The table below presents the detail of stock-based compensation expense amounts included in the condensed consolidated statements of operations:
Three Months Ended
June 30,		Six Months Ended
June 30,
2020201920202019
(in thousands)
Cost of goods sold
$85  $63  $156  $106  
Sales and marketing
1,347  940  2,488  1,674  
Research and development
288  124  528  220  
General and administrative
1,235  687  2,405  1,685  
$2,955  $1,814  $5,577  $3,685