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Stock-Based Compensation (Tables) | 9 Months Ended
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Sep. 30, 2021
Stock-Based Compensation Expense | Stock-based compensation expense was as follows (in thousands):
|  | Three Months Ended |  |  | Nine Months Ended |
|  | September 30, |  |  | September 30, |
|  | 2021 |  |  | 2020 |  |  | 2021 |  |  | 2020 |
Cost of revenues |  | $ | 259 |  |  | $ | 296 |  |  | $ | 739 |  |  | $ | 692 |
Selling, general and administrative |  |  | 1,033 |  |  |  | 846 |  |  |  | 2,665 |  |  |  | 2,313 |
Research and development |  |  | 575 |  |  |  | 498 |  |  |  | 1,601 |  |  |  | 1,281 |
Total stock-based compensation |  | $ | 1,867 |  |  | $ | 1,640 |  |  | $ | 5,005 |  |  | $ | 4,286 |
Summary of Compensation Expense by Type of Award | Compensation expense by type of award was as follows (in thousands):
|  | Three Months Ended |  |  | Nine Months Ended |
|  | September 30, |  |  | September 30, |
|  | 2021 |  |  | 2020 |  |  | 2021 |  |  | 2020 |
Stock options |  | $ | 1,661 |  |  | $ | 1,420 |  |  | $ | 4,328 |  |  | $ | 3,663 |
ESPP |  |  | 206 |  |  |  | 220 |  |  |  | 677 |  |  |  | 623 |
Total stock-based compensation |  | $ | 1,867 |  |  | $ | 1,640 |  |  | $ | 5,005 |  |  | $ | 4,286 |

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- Definition Tabular disclosure of cost recognized for award under share-based payment arrangement by plan. Includes, but is not limited to, related tax benefit. + 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 (h)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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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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