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Stock-Based Compensation (Tables)
12 Months Ended
Dec. 31, 2020
Share-based Payment Arrangement [Abstract]  
Summary of Option Activity
A summary of option activity under the Plans for the years ended December 31, 2020, 2019, and 2018 is as follows:

(in thousands, except for share and per share amounts)
Number of
Shares
Weighted Average
Exercise Price at Grant Date
Weighted Average
Remaining Term
(Years)
Aggregate
Intrinsic
Value
Outstanding at December 31, 20174,719,784 $10.03 5.63$24,421 
Granted567,500 19.22 
Forfeited(232,527)13.99 
Exercised(685,715)9.12 5,945 
Outstanding at December 31, 20184,369,042 11.15 5.2865,438 
Granted687,500 18.38 
Forfeited(53)7.94 
Expired(15,000)14.78 
Exercised(546,344)11.47 2,482 
Outstanding at December 31, 20194,495,145 12.21 5.5822,148 
Granted627,500 11.27 
Forfeited(225,000)18.83 
Expired(557,604)14.21 
Exercised(733,223)7.68 2,868 
Outstanding at December 31, 20203,606,818 12.24 5.768,511 
Exercisable at December 31, 20202,556,394 11.52 4.537,302 
Vested and expected to vest at December 31, 20203,482,804 12.22 5.648,337 
Summary of RSU Activity
A summary of RSU activity for the Plans for the years ended December 31, 2020, 2019, and 2018 is as follows:
Number of
Shares
Weighted
Average
Grant Date Fair Value
Unvested at December 31, 20171,357,838 $12.72 
Granted714,086 18.93 
Forfeited(229,603)15.19 
Vested(528,745)12.69 
Unvested at December 31, 20181,313,576 15.68 
Granted937,328 19.46 
Forfeited(75,444)18.93 
Vested(526,175)14.54 
Unvested at December 31, 20191,649,285 18.04 
Granted832,162 11.28 
Forfeited(260,127)17.35 
Vested(581,757)16.54 
Unvested at December 31, 20201,639,563 15.26 
Stock-Based Compensation Expense
Stock-based compensation expense recognized for the years ended December 31, 2020, 2019 and 2018 comprised of the following:
 Year Ended December 31,
(in thousands)202020192018
Research and development$3,804 $3,207 $1,290 
Selling, general and administrative9,556 10,251 10,376 
Total stock-based compensation expense$13,360 $13,458 $11,666 
Black-Scholes-Merton Option Pricing Model for Employee and Director Stock Options Granted Assumptions used in the Black-Scholes-Merton option pricing model for employee and director stock options granted during the years ended December 31, 2020, 2019 and 2018 were as follows:
 Year Ended December 31,
 202020192018
Expected dividend yield— %— %— %
Weighted average expected volatility51 %58 %58 %
Weighted average expected term (years)6.075.955.90
Weighted average risk-free rate1.14 %2.26 %2.68 %