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Stock Plans (Tables)
 9 Months Ended
Sep. 30, 2015
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Schedule of stock-based compensation expense
Compensation cost for restricted stock awards, restricted stock units, stock options and the ESPP included in cost of revenue; selling, general and administrative expense; and research and development expense is as follows (in thousands):
 
 
Three Months Ended
 
Nine Months Ended
 
 
September 30,
 
September 30,
 
 
2015
 
2014
 
2015
 
2014
Cost of revenue
 
$
186

 
$
145

 
$
539

 
$
587

Selling, general and administrative
 
708

 
716

 
1,732

 
1,705

Research and development
 
161

 
150

 
635

 
642

Total stock-based compensation expense
 
$
1,055

 
$
1,011

 
$
2,906

 
$
2,934
Restricted stock awards  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Schedule of employee stock purchase plan weighted-average assumptions
The following table summarizes the amount of compensation expense recognized for restricted stock awards for the three and nine months ended September 30, 2015 and 2014 (in thousands): 
 
 
Three Months Ended
 
Nine Months Ended
 
 
September 30,
 
September 30,
 
 
2015
 
2014
 
2015
 
2014
Service-based restricted stock awards
 
$
546

 
$
696

 
$
1,545

 
$
1,834

Performance-based restricted stock awards
 
—

 
7

 
(44
)
 
20

Total compensation expense recognized for restricted stock awards
 
$
546

 
$
703

 
$
1,501

 
$
1,854
Restricted stock unit awards  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Schedule of stock-based compensation expense
The following table summarizes the amount of compensation expense recognized for employee restricted stock units for the three and nine months ended September 30, 2015 and 2014 (in thousands):
 
 
Three Months Ended
 
Nine Months Ended
 
 
September 30,
 
September 30,
 
 
2015
 
2014
 
2015
 
2014
Service-based restricted stock units
 
$
229

 
$
51

 
$
516

 
$
83

Performance-based restricted stock units
 
(60
)
 
—

 
(28
)
 
$
—

Market-condition restricted stock units
 
34

 
34

 
102

 
56

Total compensation expense recognized for employee restricted stock units
 
$
203

 
$
85

 
$
590

 
$
139
Employee stock purchase plan  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Schedule of stock-based compensation expense
The fair value of the ESPP shares for the three and nine months ended September 30, 2015 and 2014 was estimated using the Black-Scholes valuation model for a call and a put option with the following weighted-average assumptions:
 
 
Three Months Ended
 
Nine Months Ended
 
 
September 30,
 
September 30,
 
 
2015
 
2014
 
2015
 
2014
Expected dividends
 
$
—

 
$
—

 
$
—

 
$
—

Exercise price
 
$
5.42

 
$
8.72

 
$
5.83

 
$
8.09

Expected volatility
 
68
%
 
61
%
 
58
%
 
68
%
Risk-free interest rate
 
0.01
%
 
0.02
%
 
0.08
%
 
0.05
%
Expected life/term (in years)
 
0.25

 
0.3

 
0.44

 
0.5

Fair value per share
 
$
5.42

 
$
2.37

 
$
5.83

 
$
5.89
Stock Options  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Schedule of valuation assumptions for fair value of stock options granted
The fair value of the stock options granted during three months and nine months ended September 30, 2015 was estimated using the Black-Scholes valuation model with the following assumptions:
 
 
Three Months Ended
 
Nine Months Ended
 
 
September 30,
 
September 30,
 
 
2015
 
2015
Expected dividends
 
$
—

 
$
—

Exercise price
 
$
4.72

 
$
6.72

Expected volatility
 
60
%
 
61
%
Average risk-free interest rate
 
1.60
%
 
1.59
%
Expected life/term (in years)
 
5.0

 
5.0

Fair value per share
 
$
2.44

 
$
2.32