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Condensed Consolidated Statements of Operations and Comprehensive Loss - USD ($)
shares in Thousands, $ in Thousands
 3 Months Ended
Mar. 31, 2018
Mar. 31, 2017
Condensed Consolidated Statements of Operations and Comprehensive Loss [Abstract]    
Revenue $ 46,994 $ 41,273
Cost of revenue 12,491 11,265
Gross profit 34,503 30,008
Operating expenses:    
Research and development expenses 9,057 9,550
Selling, general and administrative expenses 34,876 30,100
Total operating expenses 43,933 39,650
Loss from operations (9,430) (9,642)
Other income (expense):    
Interest expense (820) (554)
Interest income 76 54
Other 88 (18)
Loss before income tax expense (10,086) (10,160)
Income tax expense 48 23
Net loss $ (10,134) $ (10,183)
Basic and diluted net loss per share $ (0.31) $ (0.32)
Weighted average shares outstanding — basic and diluted 32,926 32,020
Comprehensive loss:    
Unrealized (loss) gain on investments $ (8) $ 2
Foreign currency translation adjustment 86 73
Other comprehensive income 78 75
Net loss (10,134) (10,183)
Comprehensive loss, net of tax $ (10,056) $ (10,108)