Stockholders' Equity (Tables)

12 Months Ended

Dec. 31, 2019

Federal Home Loan Banks [Abstract]

Summary of Stock Option Activity for all Stock Option Plans

A summary of stock option activity for all stock option plans is as follows:

	Number of Shares			Weighted Average Exercise Price		Weighted Average Remaining Contractual Term
Outstanding, January 1, 2017		1,425,348		$	5.05
Granted		200,813		$	4.14
Exercised		(36,530	)	$	2.18
Forfeited		(124,516	)	$	4.71
Outstanding, December 31, 2017		1,465,115		$	5.03
Granted		888,263		$	2.95
Exercised		(139,556	)	$	2.27
Forfeited		(230,345	)	$	5.41
Outstanding, December 31, 2018		1,983,477		$	4.25
Granted		392,270		$	5.81
Exercised		(379,980	)	$	3.39
Forfeited		(445,105	)	$	6.06
Outstanding, December 31, 2019		1,550,662		$	4.33		5.0 Years
Exercisable at December 31, 2017		1,301,651		$	4.95
Exercisable at December 31, 2018		1,296,439		$	4.90
Exercisable at December 31, 2019		881,461		$	4.43		4.0 Years

Stock-Based Compensation Expense Including Options and Restricted Stock by Category

The Company’s stock-based compensation expense, including options and restricted stock by category is as follows (amounts in thousands):

	Year Ended December 31,
	2019		2018		2017
Cost of revenue	$	3	$	4	$	5
Engineering and product development		226		399		715
Marketing and sales		226		190		1,003
General and administrative expense		713		912		1,933
	$	1,168	$	1,505	$	3,656

Options Granted under Company's Stock Incentive Plans, Valuation Assumptions and Fair Values

Options granted under the stock incentive plans were valued utilizing the Black-Scholes model using the following assumptions and had the following fair values:

	Year Ended December 31,
	2019			2018			2017
Average risk-free interest rate		1.88	%		2.65	%		1.61	%
Expected dividend yield		None			None			None
Expected life		3.5 years			3.5 years			3.5 years
Expected volatility		50.01% to 54.23	%		50.4% to 61.6	%		64.2% to 72.0	%
Weighted average exercise price		$5.92			$2.96			$4.14
Weighted average fair value		$2.34			$1.23			$1.99

Summary Of Intrinsic Values Of Option And Closing Market Price

Intrinsic values of options (in thousands) and the closing market price used to determine the intrinsic values are as follows:

Intrinsic value of stock options

	Years Ended December 31,
	2019		2018		2017
Outstanding	$	5,465	$	1,021	$	449
Exercisable		3,067		499		442
Exercised		509		224		79
Company’s stock price at December 31	$	7.77	$	3.70	$	3.44

Summary of Restricted Stock Activity for All Equity Incentive Plans

A summary of restricted stock activity for all equity incentive plans is as follows:

	Years Ended December 31,
	2019			2018			2017
Beginning outstanding balance		423,202			415,147			511,398
Granted		15,990			379,439			394,599
Vested		(197,730	)		(322,388	)		(469,434	)
Forfeited		(90,553	)		(48,996	)		(21,416	)
Ending outstanding balance		150,909			423,202			415,147

Summary of Intrinsic Values of Restricted Stock and Closing Market Price

Intrinsic values of restricted stock (in thousands) and the closing market price used to determine the intrinsic values are as follows:

	Years Ended December 31,
	2019		2018		2017
Outstanding	$	1,173	$	1,566	$	1,428
Vested		1,536		1,193		1,615
Company’s stock price at December 31	$	7.77	$	3.70	$	3.44