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Stockholders' Equity (Tables) | 12 Months Ended
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Dec. 31, 2018
Share-based Compensation [Abstract] |
Schedule of weighted-average assumptions used to value options as of their grant date | The weighted-average assumptions used to value options as of their grant date were as follows:
| Year Ended December 31,
| 2018 |  | 2017 |  | 2016
Risk-free interest rate | 2.81 | % |  | 1.98 | % |  | 1.43 | %
Expected volatility | 36.6 | % |  | 35.7 | % |  | 38.2 | %
Expected life (in years) | 4.29 |  |  | 4.22 |  |  | 4.18 |
Dividend yield | 0 | % |  | 0 | % |  | 0 | %
Schedule of share-based compensation, stock options, activity | The changes in outstanding stock options for the year ended December 31, 2018, 2017, and 2016 are as follows:
| Number of Options |  | Weighted Average Exercise Price |  | Weighted Average Remaining Contractual Life (in Years) |  | Aggregate Intrinsic Value
Outstanding at December 31, 2017 | 1,064 |  |  | $ | 10.06 |  |  |  |  |
Granted | 404 |  |  | $ | 11.30 |  |  |  |  |
Exercised | (40 | ) |  | $ | 7.93 |  |  |  |  |
Expired, canceled or forfeited | (152 | ) |  | $ | 12.14 |  |  |  |  |
Outstanding at December 31, 2018 | 1,276 |  |  | $ | 10.28 |  |  | 3.15 |  | $ | 1,078 |
Exercisable at December 31, 2018 | 379 |  |  | $ | 10.98 |  |  | 1.68 |  | $ | 211 |
Options vested or expected to vest at December 31, 2018 | 1,276 |  |  | $ | 10.28 |  |  | 3.15 |  | $ | 1,078 |
| Number of Options |  | Weighted Average Exercise Price |  | Weighted Average Remaining Contractual Life (in Years) |  | Aggregate Intrinsic Value
Outstanding at December 31, 2016 | 686 |  |  | $ | 11.41 |  |  |  |  |
Granted | 682 |  |  | $ | 8.65 |  |  |  |  |
Exercised | (134 | ) |  | $ | 9.24 |  |  |  |  |
Expired, canceled or forfeited | (170 | ) |  | $ | 10.46 |  |  |  |  |
Outstanding at December 31, 2017 | 1,064 |  |  | $ | 10.06 |  |  | 3.27 |  | $ | 1,268 |
Exercisable at December 31, 2017 | 307 |  |  | $ | 12.37 |  |  | 1.37 |  | $ | 9 |
Options vested or expected to vest at December 31, 2017 | 1,064 |  |  | $ | 10.06 |  |  | 3.27 |  | $ | 1,268 |
| Number of Options |  | Weighted Average Exercise Price |  | Weighted Average Remaining Contractual Life (in Years) |  | Aggregate Intrinsic Value
Outstanding at December 31, 2015 | 1,177 |  |  | $ | 11.60 |  |  |  |  |
Granted | 75 |  |  | $ | 8.90 |  |  |  |  |
Exercised | (269 | ) |  | $ | 9.06 |  |  |  |  |
Expired, canceled or forfeited | (297 | ) |  | $ | 13.68 |  |  |  |  |
Outstanding at December 31, 2016 | 686 |  |  | $ | 11.41 |  |  | 2.23 |  | $ | 681 |
Exercisable at December 31, 2016 | 379 |  |  | $ | 11.39 |  |  | 1.50 |  | $ | 382 |
Options vested or expected to vest at December 31, 2016 | 674 |  |  | $ | 11.42 |  |  | 2.04 |  | $ | 662 |
Schedule of share-based compensation, restricted stock and restricted stock units activity | Restricted stock activity under the 2006 Plan and the 2016 Plan for 2018 is as follows:
| Number of Shares |  | Weighted- average grant date fair value
Outstanding at December 31, 2017, unvested | 604 |  |  | $ | 9.59 |
Granted | 200 |  |  | 11.47 |
Vested | (259 | ) |  | 10.53 |
Forfeited | (19 | ) |  | 8.95 |
Outstanding at December 31, 2018, unvested | 526 |  |  | $ | 9.86 |
Schedule of share-based compensation, activity | The following presents stock-based compensation expense, including expense for the ESPP, in the Company's consolidated statements of operations for the years ended December 31, 2018, 2017, and 2016.
| 2018 |  | 2017 |  | 2016
Cost of product sales | $ | 163 |  |  | $ | 298 |  |  | $ | 321 |
Cost of service sales | — |  |  | 18 |  |  | 1 |
Research and development | 672 |  |  | 696 |  |  | 690 |
Sales, marketing and support | 663 |  |  | 780 |  |  | 1,027 |
General and administrative | 1,823 |  |  | 1,726 |  |  | 1,612 |
| $ | 3,321 |  |  | $ | 3,518 |  |  | $ | 3,651 |
Schedule of Accumulated Other Comprehensive Income (Loss) | The components of the Company’s comprehensive income (loss) and the effect on earnings for the periods presented are detailed in the accompanying consolidated statements of comprehensive income (loss).
| Foreign Currency Translation |  | Unrealized Gain (Loss) on Available for Sale Marketable Securities |  | Interest Rate Swaps |  | Total Accumulated Other Comprehensive Loss
Balance, December 31, 2015 | $ | (7,363 | ) |  | $ | 1 |  |  | $ | (238 | ) |  | $ | (7,600 | )
Other comprehensive loss before reclassifications | (9,288 | ) |  | (1 | ) |  | (20 | ) |  | (9,309 | )
Amounts reclassified from AOCI to Other income, net | — |  |  | — |  |  | 100 |  |  | 100 |
Net other comprehensive (loss) income, December 31, 2015 | (9,288 | ) |  | (1 | ) |  | 80 |  |  | (9,209 | )
Balance, December 31, 2016 | (16,651 | ) |  | — |  |  | (158 | ) |  | (16,809 | )
Other comprehensive income (loss) before reclassifications | 5,404 |  |  | (1 | ) |  | 12 |  |  | 5,415 |
Amounts reclassified from AOCI to Other income, net | — |  |  | — |  |  | 77 |  |  | 77 |
Net other comprehensive income (loss), December 31, 2016 | 5,404 |  |  | (1 | ) |  | 89 |  |  | 5,492 |
Balance, December 31, 2017 | (11,247 | ) |  | (1 | ) |  | (69 | ) |  | (11,317 | )
Other comprehensive (loss) income before reclassifications | (3,473 | ) |  | 1 |  |  | 10 |  |  | (3,462 | )
Amounts reclassified from AOCI to Other income, net | — |  |  | — |  |  | 48 |  |  | 48 |
Net other comprehensive (loss) income, December 31, 2018 | (3,473 | ) |  | 1 |  |  | 58 |  |  | (3,414 | )
Balance, December 31, 2018 | $ | (14,720 | ) |  | $ | — |  |  | $ | (11 | ) |  | $ | (14,731 | )

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- Definition Tabular disclosure for share-based compensation 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 (e) -URI http://asc.fasb.org/extlink&oid=109197908&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 (c)(2) -URI http://asc.fasb.org/extlink&oid=109197908&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 (d) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 + Details
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