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Stockholders' Equity (Tables)
 12 Months Ended
Dec. 31, 2019
Share-based Payment Arrangement, Noncash Expense [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,
 
2019
 
2018
Risk-free interest rate
1.91
%
 
2.81
%
Expected volatility
36.9
%
 
36.6
%
Expected life (in years)
4.27

 
4.29

Dividend yield
0
%
 
0
%
Schedule of share-based compensation, stock options, activity
The changes in outstanding stock options for the year ended December 31, 2019 and 2018 are as follows:
 
 
Number of Options
 
Weighted Average
Exercise Price
 
Weighted Average
Remaining
Contractual Life
(in Years)
 
Aggregate Intrinsic
Value
Outstanding at December 31, 2018
1,276

 
$
10.28

 
 
 
 
Granted
630

 
$
9.48

 
 
 
 
Exercised
(37
)
 
$
7.89

 
 
 
 
Expired, canceled or forfeited
(245
)
 
$
11.35

 
 
 
 
Outstanding at December 31, 2019
1,624

 
$
9.86

 
3.25
 
$
2,325

Exercisable at December 31, 2019
440

 
$
10.26

 
2.07
 
$
572

Options vested or expected to vest at December 31, 2019
1,624

 
$
9.86

 
3.25
 
$
2,325


 
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
Schedule of share-based compensation, restricted stock and restricted stock units activity
Restricted stock activity under the 2006 Plan and the 2016 Plan for 2019 is as follows:
 
 
Number of
Shares
 
Weighted-
average
grant date
fair value
Outstanding at December 31, 2018, unvested
526

 
$
9.86

Granted
322

 
9.67

Vested
(319
)
 
10.24

Forfeited
(31
)
 
9.54

Outstanding at December 31, 2019, unvested
498

 
$
9.51
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, 2019 and 2018.
 
2019
 
2018
Cost of product sales
$
240

 
$
163

Cost of service sales
—

 
—

Research and development
815

 
672

Sales, marketing and support
867

 
663

General and administrative
2,237

 
1,823

 
$
4,159

 
$
3,321
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 (Loss) Gain on Available for Sale Marketable Securities
 
Interest Rate Swaps
 
Total Accumulated Other Comprehensive Loss
Balance, December 31, 2017
$
(11,247
)
 
$
(1
)
 
$
(69
)
 
$
(11,317
)
Other comprehensive (loss) income before reclassifications
(3,473
)
 
1

 
10

 
(3,462
)
Reclassified from AOCI
—

 
—

 
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
)
Other comprehensive income before reclassifications
470

 
—

 
3

 
473

Reclassified from AOCI
11,483

 
—

 
8

 
11,491

Net other comprehensive income, December 31, 2019
11,953

 
—

 
11

 
11,964

Balance, December 31, 2019
$
(2,767
)
 
$
—

 
$
—

 
$
(2,767
)