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Stock Plans Stock Plans (Tables)
 12 Months Ended
Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Schedule of stock-based compensation
The following table summarizes stock-based compensation expense related to all of the Company’s stock awards included by operating expense categories, as follows:
 
Twelve Months Ended December 31,
 
2019
 
2018
 
2017
Cost of revenues
$
2,929

 
$
4,370

 
$
4,602

Research and development
4,227

 
6,055

 
6,030

Selling, general and administrative
15,094

 
17,179

 
11,863

Total stock-based compensation expense
$
22,250

 
$
27,604

 
$
22,495


The following table summarizes stock-based compensation expense related to all of the Company’s stock awards included by award types, as follows:
 
Twelve Months Ended December 31,
 
2019
 
2018
 
2017
Stock options
$
7,348

 
$
7,368

 
$
6,311

Restricted stock awards
14,775

 
20,216

 
15,802

Employee Stock Purchase Plan
—

 
—

 
382

Performance Based Cash Units
127

 
20

 
—

Total stock-based compensation before taxes
22,250

 
27,604

 
22,495

Tax benefit
$
3,455

 
$
5,387

 
$
3,921
Schedule of fair value assumptions
The weighted-average assumptions used in the Black-Scholes option pricing model are as follows: 
 
 
Twelve Months Ended December 31,
 
 
2019
 
2018
 
2017
Expected stock price volatility
 
69.6
%
 
65.5
%
 
57.0
%
Risk-free interest rate
 
1.9
%
 
2.6
%
 
1.8
%
Expected life of options (in years)
 
4.34

 
4.13

 
4.08

Expected dividend yield
 
0.0
%
 
0.0
%
 
0.0
%
Weighted-average fair value (grant date) of the options
 
$
3.82

 
$
4.91

 
$
6.30
Schedule of information about stock options outstanding
The following table summarizes information about stock options outstanding as of December 31, 2019: 
Options
 
Number of
Options
 
Weighted-Average
Exercise Price
 
Weighted-Average
Remaining
Contractual
Term (Years)
 
Aggregate
Intrinsic
Value
Outstanding at December 31, 2018
 
4,254

 
$
17.93

 
 
 
 
Options Granted
 
1,249

 
7.05

 
 
 
 
Options Exercised
 
(7
)
 
5.48

 
 
 
 
Options Cancelled
 
(574
)
 
23.51

 
 
 
 
Outstanding at December 31, 2019
 
4,922

 
$
14.54

 
4.78
 
$
5.56

Vested at December 31, 2019
 
1,792

 
$
23.54

 
3.59
 
$
1.23

Exercisable at December 31, 2019
 
1,792

 
$
23.54

 
3.59
 
$
1.23
Restricted Stock  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Summary of unvested restricted stock and performance shares activity
A summary of the Company’s unvested restricted stock at December 31, 2019, and changes during the year ended December 31, 2019, is presented below:
Unvested Restricted Stock
 
Number of
Awards
 
Weighted- Average
Grant Date
Fair Value
Unvested at December 31, 2018
 
2,630

 
$
12.71

Granted
 
2,204

 
7.02

Vested
 
(1,188
)
 
17.70

Forfeited
 
(271
)
 
10.90

Unvested at December 31, 2019
 
3,375

 
$
8.68
Performance Based Cash Units  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Summary of unvested restricted stock and performance shares activity
A summary of the Company’s unvested performance-based cash units at December 31, 2019 and changes during the year ended December 31, 2019, is presented below:
Unvested Cash Units
 
Number of
Awards
 
Weighted- Average
Grant Date
Fair Value
Unvested at December 31, 2018
 
70

 
$
6.14

Granted
 
976

 
—

Vested
 
—

 
—

Forfeited
 
—

 
—

Unvested at December 31, 2019
 
1,046

 
$
4.75