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Stock-based Compensation (Tables)
6 Months Ended
Jun. 30, 2020
Share-based Payment Arrangement [Abstract]  
Schedule of stock-based compensation expense
Stock-based compensation expense is included in the unaudited condensed consolidated statements of operations as follows (in thousands):
 Three Months Ended June 30,Six months ended June 30,
 2020201920202019
Research and development $471  $403  $894  $791  
Selling, general and administrative1,468  1,585  3,214  3,260  
   Total$1,939  $1,988  $4,108  $4,051  
Schedule of stock-based compensation expense by security types
The following table presents total stock-based compensation expense by security type included in the unaudited condensed consolidated statements of operations for the three and six months ended June 30, 2020 and 2019 (in thousands):
 Three Months Ended June 30,Six months ended June 30,
 2020201920202019
Stock options$575  $581  $1,116  $1,135  
RSUs and RSAs610  386  1,210  847  
PSUs296  316  627  707  
PBOs458  705  1,155  1,362  
   Total$1,939  $1,988  $4,108  $4,051