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Stock-Based Compensation | 12 Months Ended
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Dec. 31, 2020
Share-based Payment Arrangement [Abstract] |
Stock-Based Compensation | Stock-Based Compensation Employee Options Valuation The fair value of employee and director stock options was estimated at the date of grant using the Black-Scholes option pricing model with the weighted average assumptions below.
| Year Ended Year ended December 31,
| 2019 |  | 2018
Expected term (in years) | 6.1 |  | 6.1
Expected volatility | 45.0 | % |  | 45.7 | %
Risk-free interest rate | 2.39 | % |  | 2.75 | %
Dividend yield | — | % |  | — | %
The Company did not grant stock options during the year ended December 31, 2020. Market-based RSU Valuation The fair value of market based RSUs was estimated at the date of grant using the Monte-Carlo option pricing model with the assumptions below. Additional details on the Company's market based RSUs are included below.
| Year Ended December 31,
| 2020
Expected term (in years) | 0.74
Expected volatility | 63.0 | %
Risk-free interest rate | 0.17 | %
Dividend yield | — | %
Fair Value of Common Stock— The Company’s Board of Directors determined the fair value of each share of underlying common stock based on the closing price of the Company’s common stock as reported on the date of grant. Expected Term—The expected term represents the period that the share-based awards are expected to be outstanding. As the Company has very limited historical information to develop reasonable expectations about future exercise patterns and post-vesting employment termination behavior for its stock-option grants the Company has elected to use the “simplified method” as prescribed by authoritative guidance to compute expected term. Expected Volatility—Since the Company does not have sufficient trading history for its common stock, the expected volatility was estimated based on the average volatility for comparable publicly traded companies over a period equal to the expected term of the stock option grants. When selecting comparable publicly traded companies in a similar industry on which it has based its expected stock price volatility, the Company selected companies with comparable characteristics to it, including enterprise value, risk profiles, position within the industry, and with historical share price information sufficient to meet the expected life of the stock-based awards. The Company will continue to apply this process until a sufficient amount of historical information regarding the volatility of its own stock price becomes available. Risk-Free Interest Rate—The risk-free interest rate is based on the U.S. Treasury yield curve in effect on the date of grant for zero coupon U.S. Treasury notes with maturities approximately equal to expected term of the option award. Expected Dividend Yield—The Company has never paid dividends on its common stock and has no plans to pay dividends on its common stock. Therefore, the Company used an expected dividend yield of zero. In addition to the assumptions used in the Black-Scholes option-pricing model, the Company also estimates a forfeiture rate to calculate the stock-based compensation for the Company’s equity awards. The Company will continue to use judgment in evaluating the expected volatility, expected terms and forfeiture rates utilized for the Company’s stock-based compensation calculations on a prospective basis. The following table summarizes the total stock-based compensation expense included in the statements of operations and comprehensive loss for all periods presented (in thousands):
| Year Ended December 31
| 2020 |  | 2019 |  | 2018
Cost of revenue | $ | 27 |  |  | $ | 658 |  |  | $ | 193 |
Research and development | 7,727 |  |  | 4,462 |  |  | 3,057 |
Selling, general and administrative | 33,761 |  |  | 21,121 |  |  | 13,079 |
Total stock-based compensation expense | $ | 41,515 |  |  | $ | 26,241 |  |  | $ | 16,329 |
As of December 31, 2020, there was total unamortized compensation costs of $3.9 million, net of estimated forfeitures, related to unvested stock options, which the Company expects to recognize over a period of approximately 1.1 years $61.4 million, net of estimated forfeitures, related to unrecognized RSU expense, which the Company expects to recognize over a period of 2.2 years, and $1.9 million unrecognized ESPP expense, which the Company will recognize over 0.9 years. Performance based RSUs ("PRSU") and Market-based RSUs The Company grants PRSUs to key executives of the Company. PRSUs can be earned in accordance with the performance equity program for each respective grant 2019 Awards In February 2019, the company granted PRSU's ("2019 awards") to be earned based on the compound annual growth rate ("CAGR") of fiscal year 2020's revenue compared to fiscal year 2018's revenue. Due to the impact of the COVID-19 pandemic, management determined that the Company’s achievement of its performance targets described above, was not probable in the first quarter of fiscal year 2020. PRSU expense of $4.8 million recognized in fiscal year 2019 related to the 2019 awards was reversed in the first quarter of fiscal year 2020. On June 19, 2020, the Company modified the terms of the 2019 awards to vest based on the Company’s average stock price. The modification impacted all active recipients of the 2019 awards, a total of ten recipients. The total incremental compensation cost resulting from the modification of $13.6 million will be recognized ratably through March of 2021. The Company recognized $10.2 million of compensation cost for the year ended December 31, 2020 in connection with the 2019 awards. February 2020 Awards In February 2020, the company granted PRSU's ("February 2020 awards") for fiscal year 2022's annual unit volume CAGR compared to fiscal year 2019's annual unit volume CAGR, measuring a minimum performance threshold of 19.7% to earn 50% of target, and a maximum threshold of 29% achieved to earn 200% of target. A total of 133,834 PRSU shares were granted with grant date fair value of $11.0 million. The 2020 awards also include a service-based component. Compensation cost in connection with the probable number of shares that will vest will be recognized ratably through March of 2021. During the year ended December 31, 2020, the Company determined that it was probable that the February 2020 Awards would vest and recognized $1.4 million of compensation cost in connection with the February 2020 awards. Non employee Stock-Based Compensation On July 3, 2020, the Company’s Chief Financial Officer (“CFO”) resigned and entered into a Consulting and Professional Services Agreement (“CPSA”) with the Company to provide consulting services through July 2, 2021. Pursuant to the original terms of the awards, the CFO will continue to vest in outstanding awards as long as services are provided to the Company under the CPSA as a non-employee consultant. In accordance with ASC 718, the Company recognized expense related to all awards expected to vest over the duration of the CPSA in the current period as an equity- based severance cost as the consulting services are not substantive. Total expense related to non-employee stock- based compensation recognized for the year ended December 31, 2020 was $1.8 million. The Company did not recognize any non-employee stock-based compensation expense for the years ended December 31, 2019 and 2018.

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