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Stockholders' Equity (Tables)

12 Months Ended

Dec. 31, 2020

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,
			2020						2019
Risk-free interest rate			0.21		%				1.91		%
Expected volatility			44.0		%				36.9		%
Expected life (in years)			4.29						4.27
Dividend yield			0		%				0		%

Schedule of share-based compensation, stock options, activity

The changes in outstanding stock options for the year ended December 31, 2020 and 2019 are as follows:

			Number of Options						Weighted Average Exercise Price						Weighted Average Remaining Contractual Life (in Years)						Aggregate Intrinsic Value
Outstanding at December 31, 2019			1,624						$	9.86
Granted			654						$	8.12
Exercised			(110)						$	8.02
Expired, canceled or forfeited			(134)						$	12.14
Outstanding at December 31, 2020			2,034						$	9.25					3.21						$	4,288
Exercisable at December 31, 2020			611						$	9.83					2.19						$	939
Options vested or expected to vest at December 31, 2020			2,034						$	9.25					3.21						$	4,288

			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

Schedule of share-based compensation, restricted stock and restricted stock units activity

Restricted stock activity under the 2006 Plan and the 2016 Plan for 2020 is as follows:

			Number of Shares						Weighted- average grant date fair value
Outstanding at December 31, 2019, unvested			498						$	9.51
Granted			317						8.19
Vested			(252)						9.18
Forfeited			(7)						10.00
Outstanding at December 31, 2020, unvested			556						$	8.90

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, 2020 and 2019.

			2020						2019
Cost of product sales			$	165					$	240
Cost of service sales			—						—
Research and development			593						815
Sales, marketing and support			682						867
General and administrative			2,022						2,237
			$	3,462					$	4,159

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												Interest Rate Swaps						Total Accumulated Other Comprehensive Loss
Balance, December 31, 2018			$	(14,720)											$	(11)					$	(14,731)
Other comprehensive income before reclassifications			470												3						473
Amounts reclassified from AOCI			11,483												8						11,491
Net other comprehensive income			11,953												11						11,964
Balance, December 31, 2019			(2,767)												—						(2,767)
Other comprehensive loss			(465)												—						(465)
Net other comprehensive loss			(465)												—						(465)
Balance, December 31, 2020			$	(3,232)											$	—					$	(3,232)

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Tabular disclosure of the changes in outstanding nonvested restricted stock shares.

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