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Stockholders' Equity (Tables)
6 Months Ended
Jun. 30, 2018
Stockholders' Equity Note [Abstract]  
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,
 
2018
 
2017
 
2018
 
2017
Cost of sales
$
10

 
$
12

 
$
19

 
$
30

Product development
30

 
16

 
55

 
29

Selling, general, and administrative
195

 
198

 
356

 
374

Total stock-based compensation
$
235

 
$
226

 
$
430

 
$
433

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,
 
2018
 
2017
Fair value of options issued
$
1.74

 
$
2.72

Exercise price
$
2.46

 
$
3.63

Expected life of options (in years)
5.8

 
5.8

Risk-free interest rate
2.3
%
 
2.1
%
Expected volatility
84.3
%
 
91.9
%
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, 2018 is presented as follows:

 
Number of
Options
 
Weighted
Average
Exercise
Price Per
Share
 
Weighted
Average
Remaining
Contractual
Life (in years)
Balance at December 31, 2017
248,512

 
$
5.76

 
 
Granted
25,035

 
2.46

 
 
Exercised

 

 
 
Canceled/forfeited
(21,428
)
 
9.94

 
 
Expired
(10,000
)
 
20.00

 
 
Balance at June 30, 2018
242,119

 
$
4.46

 
7.8
 
 
 
 
 
 
Vested and expected to vest at June 30, 2018
226,357

 
$
4.56

 
7.8
 
 
 
 
 
 
Exercisable at June 30, 2018
139,578

 
$
5.45

 
7.1

Restricted stock units

A summary of restricted stock unit activity under all plans for the six months ended June 30, 2018 is presented as follows:

 
Restricted
Stock Units
 
Weighted
Average
Grant
Date
Fair Value
 
Weighted
Average
Remaining
Contractual
Life (in years)
Balance at December 31, 2017
306,142

 
$
3.37

 
 
Granted
503,183

 
2.44

 
 
Released
(180,293
)
 
3.18

 
 
Canceled/forfeited
(24,120
)
 
3.51

 
 
Balance at June 30, 2018
604,912

 
$
2.65

 
2.7