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Employee benefit plans (Tables) | 9 Months Ended
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Sep. 30, 2022
Share-based Payment Arrangement [Abstract] |
schedule of share-based compensation, Performance Stock Units Award Activity [Table Text Block] | A summary of the Company’s PSU activity for the nine months ended September 30, 2022 is as follows:
| Shares (in thousands) |  | Weighted-average grant date fair value
Non-vested shares at December 31, 2021 | 1,134 |  |  | $ | 6.68 |
Granted | 604 |  |  | 8.70 |
Vested | (620) |  |  | 6.55 |
Forfeited | (36) |  |  | 6.76 |
Non-vested shares at September 30, 2022 | 1,082 |  |  | $ | 7.88 |
Schedule of Share-based Compensation, Stock Options, Activity | A summary of the Company’s stock option activity for the nine months ended September 30, 2022 is as follows:
| Shares (in thousands) |  | Weighted-average exercise price |  | Weighted-average remaining contractual term (in years) |  | Aggregate intrinsic value (in thousands)
Outstanding at December 31, 2021 | 3,080 |  |  | $ | 9.18 |  |  | 5.92 |  | $ | 8,735 |
Granted | 321 |  |  | 8.70 |  |  |  |  |
Exercised | (44) |  |  | 4.70 |  |  |  |  |
Forfeited/Cancelled | (189) |  |  | 6.67 |  |  |  |  |
Outstanding at September 30, 2022 | 3,168 |  |  | $ | 9.34 |  |  | 5.42 |  | $ | 463 |
Vested and expected to vest at September 30, 2022 | 3,168 |  |  | $ | 9.34 |  |  | 5.42 |  | $ | 463 |
Exercisable at September 30, 2022 | 2,447 |  |  | $ | 10.05 |  |  | 4.55 |  | $ | 259 |
Schedule of Share-based Compensation, Restricted Stock Units Award Activity | A summary of the Company’s RSU activity for the nine months ended September 30, 2022 is as follows:
| Shares (in thousands) |  | Weighted-average grant date fair value
Non-vested shares at December 31, 2021 | 8,714 |  |  | $ | 6.52 |
Granted | 4,452 |  |  | 8.30 |
Vested | (4,116) |  |  | 6.27 |
Forfeited | (855) |  |  | 6.51 |
Non-vested shares at September 30, 2022 | 8,195 |  |  | $ | 7.62 |
Allocation of Stock-based Compensation Expense | The Company measures compensation expense for all stock-based payment awards based on the estimated fair values on the date of the grant. The fair value of stock options granted and ESPP issuance is estimated using the Black-Scholes option pricing model. The fair value of RSUs and PSUs are determined using the Company’s closing stock price on the date of grant. There have been no significant changes in the Company’s valuation assumptions from those disclosed in its 2021 Annual Report. The following table summarizes stock-based compensation expense included in the Condensed Consolidated Statements of Operations:
| Three months ended September 30, |  | Nine months ended September 30,
(in thousands) | 2022 |  | 2021 |  | 2022 |  | 2021 |  |
Cost of revenue | $ | 441 |  |  | $ | 483 |  |  | $ | 1,371 |  |  | $ | 1,420 |  |  |
Research and development | 4,395 |  |  | 4,380 |  |  | 12,958 |  |  | 13,131 |  |  |
Sales and marketing | 1,819 |  |  | 1,950 |  |  | 6,171 |  |  | 5,968 |  |  |
General and administrative | 2,684 |  |  | 2,516 |  |  | 8,926 |  |  | 7,708 |  |  |
Total stock-based compensation expense | $ | 9,339 |  |  | $ | 9,329 |  |  | $ | 29,426 |  |  | $ | 28,227 |  |  |
Class of Treasury Stock |
(in thousands, except per share data) | Three months ended September 30, 2022 |  | Nine months ended September 30, 2022 |  |
Shares repurchased | 1,540 |  |  | 4,462 |  |  |
Average price per share | $ | 6.40 |  |  | $ | 7.09 |  |  |
Value of shares repurchased | $ | 9,856 |  |  | $ | 31,618 |  |  |

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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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