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Stock Incentive Plans (Tables) | 12 Months Ended
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Dec. 31, 2016
Stock incentive plans |
Summary of activity under the Company's stock option plans | The following table summarizes activity under the Company's stock incentive plans (aggregate intrinsic value in thousands):
| Shares Available for Grant |  | Stock Options Outstanding |  | Weighted Average Exercise Price |  | Weighted Average Remaining Contractual Life (Years) |  | Aggregate Intrinsic Value
Balance—December 31, 2015 | 1,058,359 |  |  | 4,179,521 |  |  | $ | 8.03 |  |  | 7.50 |  | $ | 6,511 |
Additional shares authorized | 1,114,416 |  |  | — |  |  |  |  |  |  |  |  |
Granted - stock options | (1,618,250 | ) |  | 1,618,250 |  |  | 6.30 |  |  |  |  |  |
Granted - restricted stock units | (25,000 | ) |  | 25,000 |  |  |  |  |  |  |
Canceled | 358,199 |  |  | (358,199 | ) |  | 10.29 |  |  |  |  |  |
Exercised | — |  |  | (212,740 | ) |  | 2.53 |  |  |  |  |  |
Balance—December 31, 2016 | 887,724 |  |  | 5,251,832 |  |  | $ | 7.56 |  |  | 7.24 |  | $ | 8,515 |
Options vested and exercisable—December 31, 2016 |  |  |  | 2,628,328 |  |  | $ | 7.42 |  |  | 5.89 |  | $ | 6,008 |
Options vested and expected to vest—December 31, 2016 |  |  |  | 4,962,370 |  |  | $ | 7.58 |  |  | 7.16 |  | $ | 8,254 |
Stock-based Compensation |
Stock incentive plans |
Summary of share-based compensation expense | The following table summarizes stock-based compensation expense related to stock options, restricted stock units and the ESPP for the years ended December 31, 2016, 2015 and 2014, and are included in the statements of operations and comprehensive loss as follows (in thousands of dollars):
| Year Ended December 31,
| 2016 |  | 2015 |  | 2014
Cost of revenue | $ | 126 |  |  | $ | 100 |  |  | $ | 51 |
Research and development | 1,322 |  |  | 1,178 |  |  | 790 |
Selling and marketing | 1,594 |  |  | 1,326 |  |  | 707 |
General and administrative | 3,336 |  |  | 2,998 |  |  | 2,000 |
Total stock-based compensation expense | $ | 6,378 |  |  | $ | 5,602 |  |  | $ | 3,548 |
Stock-based Compensation, employees |
Stock incentive plans |
Schedule of assumptions used to calculate estimated grant date fair value of stock options using the Black-Scholes option-pricing valuation model | The estimated grant-date fair value of employee stock options was calculated using the Black-Scholes option-pricing model, based on the following assumptions:
| Year Ended December 31,
| 2016 |  | 2015 |  | 2014
Weighted-average volatility | 52.49 - 56.36% |  | 52.56 - 68.82% |  | 70.19 - 78.54%
Weighted-average expected term (years) | 5.50 - 6.27 |  | 5.50 - 6.08 |  | 5.50 - 6.08
Risk-free interest rate | 1.16 - 2.09% |  | 1.55 - 2.03% |  | 1.66 - 2.04%
Expected dividend yield | — |  | — |  | —
Stock-based Compensation, non-employees |
Stock incentive plans |
Schedule of assumptions used to calculate estimated grant date fair value of stock options using the Black-Scholes option-pricing valuation model | The estimated fair value of non-employee stock options was calculated using the Black-Scholes option-pricing model, based on the following assumptions:
| Year Ended December 31,
| 2016 |  | 2015 |  | 2014
Weighted-average volatility | 52.77 - 65.85% |  | 64.72 - 74.48% |  | 73.20 - 74.48%
Weighted-average expected term (years) | 7.80 - 8.56 |  | 7.92 - 10.00 |  | 8.75 - 10.00
Risk-free interest rate | 1.39 - 2.30% |  | 1.78 - 2.29% |  | 2.09 - 2.20%
Expected dividend yield | — |  | — |  | —
ESPP |
Stock incentive plans |
Schedule of assumptions used to calculate estimated grant date fair value of stock options using the Black-Scholes option-pricing valuation model | The estimated grant date fair value of the ESPP shares was calculated using the Black-Scholes option-pricing model, based on the following assumptions:
| Year Ended December 31,
| 2016 |  | 2015
Weighted-average volatility | 46.38 - 75.72% |  | 53.57 - 58.10%
Weighted-average expected term (years) | 0.50 - 1.00 |  | 0.49 - 0.99
Risk-free interest rate | 0.40 - 0.50% |  | 0.17 - 0.33%
Expected dividend yield | — |  | —

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- Definition Tabular disclosure of the number and weighted-average exercise prices (or conversion ratios) for share options (or share units) that were outstanding at the beginning and end of the year, vested and expected to vest, exercisable or convertible at the end of the year, and the number of share options or share units that were granted, exercised or converted, forfeited, and expired during the year. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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