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Equity - Changes in Shareholders' Equity (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Feb. 13, 2020
Jun. 30, 2020
Mar. 31, 2020
Jun. 30, 2019
Mar. 31, 2019
Jun. 30, 2020
Jun. 30, 2019
Balance at beginning of period   $ 141,063 $ 87,432 $ 86,350 $ 91,585 $ 87,432 $ 91,585
Exercise of common stock options   1,626   58 246 4,454  
Issuance for employee stock purchase plan         444 $ 357  
Issuance for employee stock purchase plan, shares           39,411 32,826
Shares withheld for employee taxes upon vesting of RSUs   (564)   (35) (488) $ (1,358)  
Stock-based compensation   5,584 4,951 4,162 4,263    
Equity component of 2020 Convertible Notes, net of issuance costs of $1,773     44,777        
Equity component of transaction costs for 2020 Convertible Notes $ 1,773   1,773     1,773  
Net income (loss)   8,058 450 (4,712) (9,700) 8,508 $ (14,412)
Balance at end of period   155,767 141,063 85,823 86,350 155,767 85,823
Common Stock              
Balance at beginning of period   $ 34 $ 34 $ 33 $ 33 $ 34 $ 33
Balance at beginning of year, shares   34,306,040 33,678,840 33,385,128 33,265,629 33,678,840 33,265,629
Exercise of common stock options, shares   131,562   8,218 18,693 455,573  
Issuance for employee stock purchase plan, shares         32,826 39,411  
Vesting of restricted stock units, shares   83,461   26,304 101,483 195,280  
Shares withheld for employee taxes upon vesting of RSUs, shares   (26,761)   (3,097) (33,503) (63,064)  
Balance at end of period   $ 34 $ 34 $ 33 $ 33 $ 34 $ 33
Balance at end of year, shares   34,494,302 34,306,040 33,416,553 33,385,128 34,494,302 33,416,553
Additional Paid-In Capital              
Balance at beginning of period   $ 500,478 $ 447,297 $ 433,194 $ 428,729 $ 447,297 $ 428,729
Exercise of common stock options   1,626   58 246 4,454  
Issuance for employee stock purchase plan         444 357  
Shares withheld for employee taxes upon vesting of RSUs   (564)   (35) (488) (1,358)  
Stock-based compensation   5,584 4,951 4,162 4,263    
Equity component of 2020 Convertible Notes, net of issuance costs of $1,773     44,777        
Balance at end of period   507,124 500,478 437,379 433,194 507,124 437,379
Accumulated Deficit              
Balance at beginning of period   (359,449) (359,899) (346,877) (337,177) (359,899) (337,177)
Net income (loss)   8,058 450 (4,712) (9,700)    
Balance at end of period   $ (351,391) $ (359,449) $ (351,589) $ (346,877) $ (351,391) $ (351,589)