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Stock-Based Compensation (Tables)
6 Months Ended
Jun. 30, 2021
Stock-Based Compensation Expense Stock-based compensation expense was as follows (in thousands):
 
     Three Months Ended
June 30,
     Six Months Ended
June 30,
 
     2021      2020      2021      2020  
         
Cost of revenues
   $ 252      $ 277      $ 480      $ 396  
Selling, general and administrative
     779        1,030        1,632        1,467  
Research and development
     536        629        1,026        783  
    
 
 
    
 
 
    
 
 
    
 
 
 
Total stock-based compensation
   $ 1,567      $ 1,936      $ 3,138      $ 2,646  
    
 
 
    
 
 
    
 
 
    
 
 
 
Summary of Compensation Expense by Type of Award
Compensation expense by type of award was as follows (in thousands):
 
     Three Months Ended
June 30,
     Six Months Ended
June 30,
 
     2021      2020      2021      2020  
         
Stock options
   $ 1,336      $ 1,737      $ 2,667      $ 2,243  
ESPP
     231        199        471        403  
    
 
 
    
 
 
    
 
 
    
 
 
 
Total stock-based compensation
   $ 1,567      $ 1,936      $ 3,138      $ 2,646