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Stockholders' Equity (Tables) | 3 Months Ended
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Mar. 31, 2020
Stockholders' Equity [Abstract] |
Summary of Stock Option Activity |
|  | Stock Options Outstanding
|  |  |  |  |  |  | Weighted
|  | Number |  |  |  |  | average
|  | of shares |  | Exercise price |  | exercise price
Balances, December 31, 2019 |  | 22,697 |  | $ | 1.16 – 16.00 |  | $ | 5.57
Options granted |  | 35 |  |  | 2.45 |  |  | 2.45
Options exercised |  | (67) |  |  | 1.16 – 4.25 |  |  | 3.00
Options canceled |  | (980) |  |  | 2.54 – 15.77 |  |  | 7.80
Balances, March 31, 2020 |  | 21,685 |  | $ | 1.16 – 16.00 |  | $ | 5.48
Summary of Time-Based RSUs Activity |
|  |  | Weighted average
| Number |  | grant date
| of shares |  | fair value
RSUs outstanding at December 31, 2019 | 1,086 |  | $ | 6.12
RSUs granted | 4,960 |  |  | 4.41
RSUs released | (850) |  |  | 6.79
RSUs forfeited | (115) |  |  | 4.82
Unvested RSUs outstanding at March 31, 2020 | 5,081 |  | $ | 4.36
Summary of Performance-Based RSUs Activity |
|  |  | Weighted average
| Number |  | grant date
| of shares |  | fair value
PSUs outstanding at December 31, 2019 | 138 |  | $ | 2.63
PSUs granted | — |  |  | —
PSUs released | — |  |  | —
PSUs forfeited | — |  |  | —
Unvested PSUs outstanding at March 31, 2020 | 138 |  | $ | 2.63
Schedule of Stock-Based Compensation Expense |
| Three Months Ended March 31, |
| 2020 |  | 2019 |
Cost of revenue | $ | 527 |  | $ | 512 |
Research and development |  | 1,759 |  |  | 2,012 |
Sales, general and administrative |  | 1,746 |  |  | 1,857 |
Total stock-based compensation expense | $ | 4,032 |  | $ | 4,381 |
Schedule of Fair Value of Employee Stock Options |
| Three Months Ended March 31, |
Stock Option | 2020 |  | 2019 |
Expected term in years | 5.1 |  | — |
Expected volatility | 57% |  | — |
Risk-free interest rate | 1.2% |  | — |
Dividend yield | — |  | — |
Schedule of Fair Value of Employee Stock Purchase Plan |
| Three Months Ended March 31,
ESPP | 2020 |  | 2019
Expected term in years | 0.5-2.0 |  | —
Expected volatility | 57% |  | —
Risk-free interest rate | 0.8%-1.0% |  | —
Dividend yield | — |  | —

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