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Stock-Based Compensation (Tables) | 12 Months Ended
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Dec. 31, 2016
Stock-Based Compensation Expense | We issue stock-based awards from our equity incentive plans, which are more fully described in Note 9. Stock-based compensation expense was recognized as follows (in thousands):
|  | Year Ended December 31, |
|  | 2016 |  |  | 2015 |  |  | 2014 |
Cost of goods sold |  | $ | 1,620 |  |  | $ | 1,142 |  |  | $ | 1,161 |
Research and development |  |  | 13,093 |  |  |  | 9,207 |  |  |  | 7,528 |
General and administrative |  |  | 11,137 |  |  |  | 9,320 |  |  |  | 8,328 |
Total stock-based compensation |  | $ | 25,850 |  |  | $ | 19,669 |  |  | $ | 17,017 |
Black-Scholes Option-Pricing Model Assumptions Used to Calculate Fair Value of Employee Stock Options | The following table lists the Black-Scholes option-pricing model assumptions used to calculate the fair value of employee and director stock options.
|  | Year Ended December 31, |
|  | 2016 |  |  | 2015 |  |  | 2014 |
Average risk-free interest rate |  |  | 1.4 | % |  |  | 1.6 | % |  |  | 1.6 | %
Dividend yield |  |  | 0.0 | % |  |  | 0.0 | % |  |  | 0.0 | %
Average volatility factor |  |  | 51.7 | % |  |  | 50.8 | % |  |  | 51.6 | %
Average weighted average expected life |  | 5.3 years |  |  | 5.3 years |  |  | 5.2 years |
Stock Option Activity Under Equity Incentive Plans | The table below presents a summary of stock option activity under our equity incentive plans (in thousands, except for price per share and contractual life information):
|  | Number of Shares |  |  | Weighted- Average Exercise Price per Share |  |  | Weighted- Average Remaining Contractual Life (in Years) |  |  | Aggregate Intrinsic Value(1) |
Outstanding at December 31, 2015 |  |  | 18,782 |  |  | $ | 11.22 |  |  |  |  |  |  |  |  |
Options granted |  |  | 3,368 |  |  |  | 13.92 |  |  |  |  |  |  |  |  |
Options exercised |  |  | (2,337 | ) |  |  | 8.03 |  |  |  |  |  |  |  |  |
Options forfeited & canceled |  |  | (400 | ) |  |  | 13.97 |  |  |  |  |  |  |  |  |
Outstanding at December 31, 2016 |  |  | 19,413 |  |  | $ | 12.01 |  |  |  | 4.61 |  |  | $ | 26,513 |
Vested and expected to vest at December 31, 2016 |  |  | 18,970 |  |  | $ | 11.97 |  |  |  | 4.55 |  |  | $ | 26,485 |
Exercisable at December 31, 2016 |  |  | 12,783 |  |  | $ | 10.94 |  |  |  | 3.49 |  |  | $ | 25,684 |
(1) | Aggregate intrinsic value represents the difference between the exercise price of the option and the closing market price of our common stock on December 31, 2016.
Restricted Stock Units (RSU) [Member] |
Restricted Stock Unit Award Activity | A summary of RSU award activity is as follows (in thousands except for per share amounts):
|  | Units Issued |  |  | Weighted- Average Grant Date Fair Value |  |  | Aggregate Intrinsic Value(1) |
Balance at December 31, 2015 |  |  | 1,306 |  |  | $ | 15.30 |  |  |  |  |
Granted |  |  | 1,493 |  |  |  | 12.50 |  |  |  |  |
Vested and released |  |  | (491 | ) |  |  | 14.96 |  |  |  |  |
Forfeited and canceled |  |  | (60 | ) |  |  | 14.87 |  |  |  |  |
Balance at December 31, 2016 |  |  | 2,248 |  |  | $ | 13.53 |  |  | $ | 27,593 |
(1) | Aggregate intrinsic value represents the difference between the grant price of the award, which is zero, and the closing market price of our common stock on December 31, 2016.

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- Definition Tabular disclosure of components of a stock option or other award plan under which equity-based compensation is awarded to employees, typically comprised of the amount of unearned compensation (deferred compensation cost), compensation expense, and changes in the quantity and fair value of the shares (or other type of equity) granted, exercised, forfeited, and issued and outstanding pertaining to that plan. Disclosure may also include nature and general terms of such arrangements that existed during the period and potential effects of those arrangements on shareholders, effect of compensation cost arising from equity-based payment arrangements on the income statement, method of estimating the fair value of the goods or services received, or the fair value of the equity instruments granted, during the period, cash flow effects resulting from equity-based payment arrangements and, for registrants that accelerate vesting of out of the money share options, reasons for the decision to accelerate. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 1 -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5047-113901 + Details
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- Definition Tabular disclosure of the allocation of equity-based compensation costs to a given line item on the balance sheet and income statement for the period. This may include the reporting line for the costs and the amount capitalized and expensed. + 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 (h)(1) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 1 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5047-113901 Reference 3: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -URI http://asc.fasb.org/extlink&oid=27013229&loc=d3e301413-122809 + Details
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- Definition Tabular disclosure of the number and weighted-average grant date fair value for restricted stock units that were outstanding at the beginning and end of the year, and the number of restricted stock units that were granted, vested, or forfeited 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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- 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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