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Stock-Based Compensation and Employee Benefit Plans (Tables) | 12 Months Ended
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Dec. 31, 2020
Stock-Based Compensation Expense | Stock-based compensation expense for the years ended December 31 was as follows (in thousands):
|  | 2020 |  |  | 2019 |  |  | 2018 |
Cost of revenues |  | $ | 934 |  |  | $ | 342 |  |  | $ | 237 |
Selling, general and administrative |  |  | 3,164 |  |  |  | 1,979 |  |  |  | 2,517 |
Research and development |  |  | 1,785 |  |  |  | 715 |  |  |  | 642 |
Total stock-based compensation |  | $ | 5,883 |  |  | $ | 3,036 |  |  | $ | 3,396 |
Summary of Compensation Expense by Type of Award | Compensation expense by type of award for the years ended December 31 was as follows (in thousands):
|  | 2020 |  |  | 2019 |  |  | 2018 |
Stock options |  | $ | 4,982 |  |  | $ | 2,072 |  |  | $ | 2,649 |
ESPP |  |  | 901 |  |  |  | 964 |  |  |  | 747 |
Total stock-based compensation |  | $ | 5,883 |  |  | $ | 3,036 |  |  | $ | 3,396 |
Weighted-Average Assumptions for Non Performance-Based Fair Value for Stock Options | The fair value for non-performance-based stock options awarded under the 2000 Plan for the years shown below was estimated at the date of grant using the Black-Scholes option pricing model with the following weighted-average assumptions:
|  | 2020 |  |  | 2019 |  |  | 2018 |
Risk-free interest rate |  |  | 0.5 | % |  |  | 1.8 | % |  |  | 2.9 | %
Expected dividend yield |  |  | — |  |  |  | — |  |  |  | — |
Expected volatility |  |  | 48 | % |  |  | 42 | % |  |  | 44 | %
Expected lives (years) |  |  | 6.1 |  |  |  | 6.3 |  |  |  | 6.4 |
2000 Plan, Vicor [Member] |
Stock-Based Compensation Expense | A summary of the activity under the 2000 Plan as of December 31, 2020 and changes during the year then ended, is presented below (in thousands except for share and weighted-average data):
|  | Options Outstanding |  |  | Weighted- Average Exercise Price |  |  | Weighted- Average Remaining Contractual Life in Years |  |  | Aggregate Intrinsic Value |
Outstanding on December 31, 2019 |  |  | 2,687,896 |  |  | $ | 10.81 |  |  |  |  |  |  |  |  |
Granted |  |  | 354,075 |  |  | $ | 68.34 |  |  |  |  |  |  |  |  |
Forfeited and expired |  |  | (69,987 | ) |  | $ | 23.77 |  |  |  |  |  |  |  |  |
Exercised |  |  | (948,507 | ) |  | $ | 9.62 |  |  |  |  |  |  |  |  |
Outstanding on December 31, 2020 |  |  | 2,023,477 |  |  | $ | 20.98 |  |  |  | 4.87 |  |  | $ | 144,153 |
Exercisable on December 31, 2020 |  |  | 924,964 |  |  | $ | 9.05 |  |  |  | 3.41 |  |  | $ | 76,932 |
Vested or expected to vest as of December 31, 2020(1) |  |  | 1,947,127 |  |  | $ | 20.22 |  |  |  | 4.79 |  |  | $ | 140,186 |
(1) | In addition to the vested options, the Company expects a portion of the unvested options to vest at some point in the future. The number of options expected to vest is calculated by applying an estimated forfeiture rate to the unvested options.

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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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