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STOCK-BASED COMPENSATION PLANS (Tables)
 12 Months Ended
Dec. 31, 2019
Share-based Payment Arrangement [Abstract]  
Schedule of activity related to outstanding stock options
The activity related to the Company's outstanding stock options during the year ended December 31, 2019 was as follows:
 
Number of
Shares
 
Weighted
Average
Exercise Price
 
Weighted
Average
Remaining
Contractual Term
(years)
 
Aggregate
Intrinsic Value
(in thousands)
Outstanding at January 1, 2019
582,061

 
$
9.01

 
 
 
 
Granted
—

 
$
—

 
 
 
 
Exercised
(127,334
)
 
$
1.85

 
 
 
 
Forfeited
(38,666
)
 
$
2.55

 
 
 
 
Expired
(118,937
)
 
$
12.43

 
 
 
 
Outstanding at December 31, 2019
297,124

 
$
11.55

 
4.95
 
$
122

Vested or expected to vest at December 31, 2019
293,782

 
$
11.65

 
4.92
 
$
119

Exercisable at December 31, 2019
260,152

 
$
12.89

 
4.59
 
$
85
Schedule of assumptions used to estimate the fair value of options at the date of grant using the Black-Scholes option pricing model
The grant date fair values of stock options granted in the year ended December 31, 2017 were estimated using the Black-Scholes valuation model with the following assumptions:
Risk-free interest rate
 
1.22% - 1.95%
Expected dividends
 
—
Weighted average volatility
 
51.1%
Expected life (years)
 
5.0
Schedule of activity related to unvested restricted stock grants
The activity related to the Company's RSAs for the year ended December 31, 2019 was as follows:
 
Shares
 
Weighted
Average
Grant Date
Fair Value
Unvested balance at January 1, 2019
1,508,011

 
$
6.90

Granted
—

 
$
—

Vested
(967,291
)
 
$
6.90

Forfeited
(52,744
)
 
$
7.04

Unvested balance at December 31, 2019
487,976

 
$
6.87




The activity related to the Company's RSUs for the year ended December 31, 2019 was as follows:
 
Shares
 
Weighted
Average
Grant Date
Fair Value
Unvested balance at January 1, 2019
636,300

 
$
6.52

Granted
2,828,832

 
$
4.98

Vested
(537,416
)
 
$
6.04

Forfeited
(137,656
)
 
$
5.35

Unvested balance at December 31, 2019
2,790,060

 
$
5.11
Schedule of activity related to performance stock awards
The activity related to the Company's PSUs for the year ended December 31, 2019 was as follows:
 
Shares
 
Weighted
Average
Grant Date
Fair Value
Unvested balance at January 1, 2019
210,416

 
$
5.77

Granted
872,073

 
$
6.03

Vested
(9,466
)
 
$
8.55

Forfeited
(5,950
)
 
$
8.55

Unvested balance at December 31, 2019
1,067,073

 
$
5.94
Schedule of stock-based compensation expenses which are included in condensed consolidated statement of operations
The consolidated statements of operations included stock-based compensation for the years ended December 31, 2019, 2018 and 2017 as follows (in thousands):
 
Year ended December 31,
 
2019
 
2018
 
2017
Product cost of revenue
$
76

 
$
114

 
$
514

Service cost of revenue
478

 
345

 
1,448

Research and development
1,898

 
1,797

 
7,337

Sales and marketing
3,028

 
2,935

 
4,885

General and administrative
7,121

 
5,881

 
11,473

 
$
12,601

 
$
11,072

 
$
25,657
Schedule of common stock reserved for future issuance
Common stock reserved for future issuance at December 31, 2019 consists of the following:
2019 Plan
7,051,559

ESPP
1,148,867

 
8,200,426