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Stockholders' Equity (Tables)
6 Months Ended
Jun. 30, 2017
Stockholders' Equity Note [Abstract]  
Summary of warrant activity
A summary of warrant activity for the six months ended June 30, 2017 is presented as follows:

 
Warrants
Outstanding
 
Weighted
Average
Exercise
Price During
Period
Balance at December 31, 2016
6,750

 
$
4.30

Exercised

 

Canceled/forfeited
(6,750
)
 
4.30

Expired

 

Balance at June 30, 2017

 
$

Summary of stock-based compensation expense
The following table summarizes stock-based compensation expense and the impact it had on operations for the periods presented (in thousands):

 
Three months ended
June 30,
 
Six months ended
June 30,
 
2017
 
2016
 
2017
 
2016
Cost of sales
$
12

 
$
10

 
$
30

 
$
24

Product development
16

 
20

 
29

 
36

Selling, general, and administrative
198

 
354

 
374

 
580

Total stock-based compensation
$
226

 
$
384

 
$
433

 
$
640

Schedule of valuation assumptions
Estimates utilized in the calculation include the expected life of the option, risk-free interest rate, and expected volatility, and are further comparatively detailed as follows:

 
Six months ended
June 30,
 
2017
 
2016
Fair value of options issued
$
2.72

 
$
5.59

Exercise price
$
3.63

 
$
7.42

Expected life of options (in years)
5.8

 
5.8

Risk-free interest rate
2.1
%
 
1.6
%
Expected volatility
91.9
%
 
93.3
%
Dividend yield
0.0
%
 
0.0
%
Summary of option activity
A summary of option activity under all plans for the six months ended June 30, 2017 is presented as follows:

 
Number of
Options
 
Weighted
Average
Exercise
Price Per
Share
 
Weighted
Average
Remaining
Contractual
Life (in years)
Balance at December 31, 2016
530,734

 
$
7.48

 
 
Granted
180,924

 
3.63

 
 
Exercised
(40,500
)
 
2.30

 
 
Canceled/forfeited
(282,869
)
 
5.49

 
 
Expired
(56,111
)
 
10.65

 
 
Balance at June 30, 2017
332,178

 
$
7.17

 
8.2
 
 
 
 
 
 
Vested and expected to vest at June 30, 2017
301,559

 
$
7.55

 
8.0
 
 
 
 
 
 
Exercisable at June 30, 2017
186,253

 
$
9.91

 
7.1

Restricted stock units

A summary of restricted stock unit activity under all plans for the six months ended June 30, 2017 is presented as follows:

 
Restricted
Stock Units
 
Weighted
Average
Grant
Date
Fair Value
 
Weighted
Average
Remaining
Contractual
Life (in years)
Balance at December 31, 2016
250,115

 
$
6.34

 
 
Granted
367,502

 
3.20

 
 
Released
(113,956
)
 
5.80

 
 
Canceled/forfeited
(150,355
)
 
5.86

 
 
Balance at June 30, 2017
353,306

 
$
3.45

 
3.2