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Employee Benefit Plans and Stockholders' Equity (Tables) | 12 Months Ended
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Dec. 31, 2019
Share-based Payment Arrangement [Abstract] |
Schedule of Intrinsic Value of Options Exercised and Fair Value of Options Vested | The total intrinsic value of stock options exercised as of the date of exercise was as follows:
| Twelve Months Ended December 31,
(In millions) | 2019 |  | 2018 |  | 2017
Intrinsic value of options exercised | $ | 7.4 |  |  | $ | 30.0 |  |  | $ | 21.6 |
Schedule of Restricted Stock Units Activity | A summary of our RSU activity for the twelve months ended December 31, 2019, 2018 and 2017 is as follows:
(In millions except weighted average grant date fair value) | Shares |  | Weighted Average Grant Date Fair Value |  | Aggregate Intrinsic Value
Nonvested at December 31, 2016 | 3.7 |  |  | $ | 62.51 |  |  |
Granted | 1.3 |  |  | 75.78 |  |  |
Vested | (1.9 | ) |  | 58.92 |  |  |
Forfeited | (0.4 | ) |  | 67.97 |  |  |
Nonvested at December 31, 2017 | 2.7 |  |  | 70.68 |  |  | $ | 154.5 |
Granted | 1.7 |  |  | 66.07 |  |  |
Vested | (1.4 | ) |  | 68.44 |  |  |
Forfeited | (0.3 | ) |  | 68.56 |  |  |
Nonvested at December 31, 2018 | 2.7 |  |  | 69.19 |  |  | 319.0 |
Granted | 0.7 |  |  | 144.37 |  |  |
Vested | (1.4 | ) |  | 69.45 |  |  |
Forfeited | (0.2 | ) |  | 83.45 |  |  |
Nonvested at December 31, 2019 | 1.8 |  |  | $ | 96.63 |  |  | $ | 392.0 |
Schedule of Stock Options Reserved for Future Issuance | Shares of common stock reserved for future issuance were as follows as of the dated indicated:
| December 31,
(In millions) | 2019 |  | 2018
Stock options and awards under our plans: |  |  |
Stock options granted and outstanding | — |  |  | 0.1 |
Unvested restricted stock units | 1.8 |  |  | 2.7 |
Reserved for future grant | 4.9 |  |  | 3.2 |
Employee Stock Purchase Plan | 0.9 |  |  | 1.1 |
Total | 7.6 |  |  | 7.1 |
Schedule of Share-Based Compensation Expenses | The following table summarizes share-based compensation expense related to restricted stock units and employee stock purchases under the ESPP for the twelve months ended December 31, 2019, 2018 and 2017:
| Twelve Months Ended December 31,
(In millions) | 2019 |  | 2018 |  | 2017
Cost of sales | $ | 9.0 |  |  | $ | 9.2 |  |  | $ | 9.6 |
Research and development | 33.5 |  |  | 33.0 |  |  | 37.5 |
Selling, general and administrative | 60.2 |  |  | 59.7 |  |  | 59.1 |
Total share-based compensation expense included in net loss | $ | 102.7 |  |  | $ | 101.9 |  |  | $ | 106.2 |
Schedule of Valuation Assumptions for Employee Stock Purchase Plan | We estimate the fair value of ESPP purchase rights on the date of grant using the Black-Scholes option pricing model and the assumptions below for the specified reporting periods.
| Twelve Months Ended December 31,
| 2019 |  | 2018 |  | 2017
Risk free interest rate | 1.72 - 2.55 |  |  | 1.55 – 2.25 |  |  | 0.75 – 1.12 |
Dividend yield | — | % |  | — | % |  | — | %
Expected volatility of DexCom common stock | 0.40 - 0.51 |  |  | 0.50 – 0.67 |  |  | 0.33 – 0.56 |
Expected life (in years) | 1 |  |  | 1 |  |  | 1 |

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