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Stockholders' Equity (Tables)
 12 Months Ended
Dec. 31, 2018
Share-based Compensation [Abstract]  
Schedule of weighted-average assumptions used to value options as of their grant date
The weighted-average assumptions used to value options as of their grant date were as follows:
 
Year Ended
December 31,
 
2018
 
2017
 
2016
Risk-free interest rate
2.81
%
 
1.98
%
 
1.43
%
Expected volatility
36.6
%
 
35.7
%
 
38.2
%
Expected life (in years)
4.29

 
4.22

 
4.18

Dividend yield
0
%
 
0
%
 
0
%
Schedule of share-based compensation, stock options, activity
The changes in outstanding stock options for the year ended December 31, 2018, 2017, and 2016 are as follows:
 
 
Number of Options
 
Weighted Average
Exercise Price
 
Weighted Average
Remaining
Contractual Life
(in Years)
 
Aggregate Intrinsic
Value
Outstanding at December 31, 2017
1,064

 
$
10.06

 
 
 
 
Granted
404

 
$
11.30

 
 
 
 
Exercised
(40
)
 
$
7.93

 
 
 
 
Expired, canceled or forfeited
(152
)
 
$
12.14

 
 
 
 
Outstanding at December 31, 2018
1,276

 
$
10.28

 
3.15
 
$
1,078

Exercisable at December 31, 2018
379

 
$
10.98

 
1.68
 
$
211

Options vested or expected to vest at December 31, 2018
1,276

 
$
10.28

 
3.15
 
$
1,078


 
Number of Options
 
Weighted Average
Exercise Price
 
Weighted Average
Remaining
Contractual Life
(in Years)
 
Aggregate Intrinsic
Value
Outstanding at December 31, 2016
686

 
$
11.41

 
 
 
 
Granted
682

 
$
8.65

 
 
 
 
Exercised
(134
)
 
$
9.24

 
 
 
 
Expired, canceled or forfeited
(170
)
 
$
10.46

 
 
 
 
Outstanding at December 31, 2017
1,064

 
$
10.06

 
3.27
 
$
1,268

Exercisable at December 31, 2017
307

 
$
12.37

 
1.37
 
$
9

Options vested or expected to vest at December 31, 2017
1,064

 
$
10.06

 
3.27
 
$
1,268

 
Number of Options
 
Weighted Average
Exercise Price
 
Weighted Average
Remaining
Contractual Life
(in Years)
 
Aggregate Intrinsic
Value
Outstanding at December 31, 2015
1,177

 
$
11.60

 

 

Granted
75

 
$
8.90

 
 
 
 
Exercised
(269
)
 
$
9.06

 
 
 
 
Expired, canceled or forfeited
(297
)
 
$
13.68

 
 
 
 
Outstanding at December 31, 2016
686

 
$
11.41

 
2.23
 
$
681

Exercisable at December 31, 2016
379

 
$
11.39

 
1.50
 
$
382

Options vested or expected to vest at December 31, 2016
674

 
$
11.42

 
2.04
 
$
662
Schedule of share-based compensation, restricted stock and restricted stock units activity
Restricted stock activity under the 2006 Plan and the 2016 Plan for 2018 is as follows:
 
 
Number of
Shares
 
Weighted-
average
grant date
fair value
Outstanding at December 31, 2017, unvested
604

 
$
9.59

Granted
200

 
11.47

Vested
(259
)
 
10.53

Forfeited
(19
)
 
8.95

Outstanding at December 31, 2018, unvested
526

 
$
9.86
Schedule of share-based compensation, activity
The following presents stock-based compensation expense, including expense for the ESPP, in the Company's consolidated statements of operations for the years ended December 31, 2018, 2017, and 2016.
 
2018
 
2017
 
2016
Cost of product sales
$
163

 
$
298

 
$
321

Cost of service sales
—

 
18

 
1

Research and development
672

 
696

 
690

Sales, marketing and support
663

 
780

 
1,027

General and administrative
1,823

 
1,726

 
1,612

 
$
3,321

 
$
3,518

 
$
3,651
Schedule of Accumulated Other Comprehensive Income (Loss)
The components of the Company’s comprehensive income (loss) and the effect on earnings for the periods presented are detailed in the accompanying consolidated statements of comprehensive income (loss).
 
 
Foreign Currency Translation
 
Unrealized Gain (Loss) on Available for Sale Marketable Securities
 
Interest Rate Swaps
 
Total Accumulated Other Comprehensive Loss
Balance, December 31, 2015
$
(7,363
)
 
$
1

 
$
(238
)
 
$
(7,600
)
Other comprehensive loss before reclassifications
(9,288
)
 
(1
)
 
(20
)
 
(9,309
)
Amounts reclassified from AOCI to Other income, net
—

 
—

 
100

 
100

Net other comprehensive (loss) income, December 31, 2015
(9,288
)
 
(1
)
 
80

 
(9,209
)
Balance, December 31, 2016
(16,651
)
 
—

 
(158
)
 
(16,809
)
Other comprehensive income (loss) before reclassifications
5,404

 
(1
)
 
12

 
5,415

Amounts reclassified from AOCI to Other income, net
—

 
—

 
77

 
77

Net other comprehensive income (loss), December 31, 2016
5,404

 
(1
)
 
89

 
5,492

Balance, December 31, 2017
(11,247
)
 
(1
)
 
(69
)
 
(11,317
)
Other comprehensive (loss) income before reclassifications
(3,473
)
 
1

 
10

 
(3,462
)
Amounts reclassified from AOCI to Other income, net
—

 
—

 
48

 
48

Net other comprehensive (loss) income, December 31, 2018
(3,473
)
 
1

 
58

 
(3,414
)
Balance, December 31, 2018
$
(14,720
)
 
$
—

 
$
(11
)
 
$
(14,731
)