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Employee Benefit Plans (Tables)
 12 Months Ended
Dec. 31, 2020
Share-based Payment Arrangement [Abstract]  
Summary of Stock Options Outstanding
(in thousands, except per share amounts)Number
of
Shares		Weighted-Average
Exercise Price
(per share)
Balance at December 31, 20191,888 $5.83 
Exercised(177)5.53 
Canceled(258)6.19 
Balance at December 31, 20201,453 $5.80 
Summary of Restricted Stock Units Outstanding
(in thousands, except per share amounts)Number
of
Shares		Weighted Average
Grant-Date Fair Value
Per Share
Balance at December 31, 20193,601 $5.18 
Granted2,966 5.86
Vested(2,869)5.39
Forfeited(430)4.65
Balance at December 31, 2020
3,268 $5.67 
Schedule of Defined Benefit Plans Disclosures
The Company’s pension obligations as of December 31, 2020 and December 31, 2019 and the changes to the Company’s pension obligations for each of those years were as follows:
December 31,
(in thousands)20202019
Projected benefit obligation:
Balance at January 1$5,259 $4,881 
  Service cost252 227 
  Interest cost37 78 
  Actuarial losses 159 206 
  Benefits paid(173)(31)
  Foreign currency translation adjustment523 (102)
Balance at December 31$6,057 $5,259 
Presented on the Consolidated Balance Sheets under:
Current portion (presented under “Accrued and other current liabilities”)$47 $30 
Long-term portion (presented under “Other non-current liabilities”)$6,010 $5,229 
Components of Net Periodic Benefit Costs
The table below presents the components of net periodic benefit costs:
Year ended December 31,
(in thousands)20202019
Service cost$252 $227 
Interest cost37 78 
Net periodic benefit cost included in operating loss$289 $305 
Schedule of Pension Obligations Assumptions Used
The following assumptions were used in determining the Company’s pension obligation:
December 31,
20202019
Discount rate0.4 %0.7 %
Mobility rate 5.2 %5.0 %
Salary progression rate 2.0 %2.0 %
Schedule of Expected Benefit Payments
As of December 31, 2020, future benefits expected to be paid in each of the next five years, and in the aggregate for the five-year period thereafter are as follows (in thousands):
Years ending December 31,
2021$46 
2022— 
2023341 
2024254 
2025480 
2026 - 20303,465 
Total$4,586 
Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs
The following table sets forth the detailed allocation of the share-based compensation expense which was included in the Company’s Consolidated Statements of Operations:
 Year ended December 31,
(in thousands)202020192018
Share-based compensation expense included in:
Cost of revenue$1,712 $1,124 $1,953 
Research and development expense4,850 3,261 5,192 
Selling, general and administrative expense11,478 7,689 10,144 
Total$18,040 $12,074 $17,289 
Share-based compensation expense by type of award:
Stock options— 94 670 
RSUs11,522 9,444 8,901 
PRSUs4,022 924 6,075 
MRSUs711 286 222 
Employee stock purchase rights under ESPP1,785 1,326 1,421 
Total$18,040 $12,074 $17,289 
Valuation Assumptions for Stock Options At the date of grant, the Company estimated the fair value of each stock purchase right granted under the ESPP using the following weighted average assumptions:
 December 31,
 202020192018
Expected term (in years)0.500.500.50
Volatility56 %38 %55 %
Risk-free interest rate0.9 %2.3 %1.9 %
Expected dividends0.0 %0.0 %0.0 %