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Stockholders' Equity (Tables) | 12 Months Ended
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Dec. 31, 2019
Share-based Payment Arrangement, Noncash Expense [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,
| 2019 |  | 2018
Risk-free interest rate | 1.91 | % |  | 2.81 | %
Expected volatility | 36.9 | % |  | 36.6 | %
Expected life (in years) | 4.27 |  |  | 4.29 |
Dividend yield | 0 | % |  | 0 | %
Schedule of share-based compensation, stock options, activity | The changes in outstanding stock options for the year ended December 31, 2019 and 2018 are as follows:
| Number of Options |  | Weighted Average Exercise Price |  | Weighted Average Remaining Contractual Life (in Years) |  | Aggregate Intrinsic Value
Outstanding at December 31, 2018 | 1,276 |  |  | $ | 10.28 |  |  |  |  |
Granted | 630 |  |  | $ | 9.48 |  |  |  |  |
Exercised | (37 | ) |  | $ | 7.89 |  |  |  |  |
Expired, canceled or forfeited | (245 | ) |  | $ | 11.35 |  |  |  |  |
Outstanding at December 31, 2019 | 1,624 |  |  | $ | 9.86 |  |  | 3.25 |  | $ | 2,325 |
Exercisable at December 31, 2019 | 440 |  |  | $ | 10.26 |  |  | 2.07 |  | $ | 572 |
Options vested or expected to vest at December 31, 2019 | 1,624 |  |  | $ | 9.86 |  |  | 3.25 |  | $ | 2,325 |
| 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 |
Schedule of share-based compensation, restricted stock and restricted stock units activity | Restricted stock activity under the 2006 Plan and the 2016 Plan for 2019 is as follows:
| Number of Shares |  | Weighted- average grant date fair value
Outstanding at December 31, 2018, unvested | 526 |  |  | $ | 9.86 |
Granted | 322 |  |  | 9.67 |
Vested | (319 | ) |  | 10.24 |
Forfeited | (31 | ) |  | 9.54 |
Outstanding at December 31, 2019, unvested | 498 |  |  | $ | 9.51 |
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, 2019 and 2018.
| 2019 |  | 2018
Cost of product sales | $ | 240 |  |  | $ | 163 |
Cost of service sales | — |  |  | — |
Research and development | 815 |  |  | 672 |
Sales, marketing and support | 867 |  |  | 663 |
General and administrative | 2,237 |  |  | 1,823 |
| $ | 4,159 |  |  | $ | 3,321 |
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 (Loss) Gain on Available for Sale Marketable Securities |  | Interest Rate Swaps |  | Total Accumulated Other Comprehensive Loss
Balance, December 31, 2017 | $ | (11,247 | ) |  | $ | (1 | ) |  | $ | (69 | ) |  | $ | (11,317 | )
Other comprehensive (loss) income before reclassifications | (3,473 | ) |  | 1 |  |  | 10 |  |  | (3,462 | )
Reclassified from AOCI | — |  |  | — |  |  | 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 | )
Other comprehensive income before reclassifications | 470 |  |  | — |  |  | 3 |  |  | 473 |
Reclassified from AOCI | 11,483 |  |  | — |  |  | 8 |  |  | 11,491 |
Net other comprehensive income, December 31, 2019 | 11,953 |  |  | — |  |  | 11 |  |  | 11,964 |
Balance, December 31, 2019 | $ | (2,767 | ) |  | $ | — |  |  | $ | — |  |  | $ | (2,767 | )

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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=116856206&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=116856206&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=116856206&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + 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 (f)(2) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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