Annual report pursuant to Section 13 and 15(d)

Stock-based Compensation - Stock-Based Compensation Expense (Details)

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Stock-based Compensation - Stock-Based Compensation Expense (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Schedule of stock-based compensation expense      
Stock-based compensation $ 6,943 $ 7,889 $ 7,091
Stock options      
Schedule of stock-based compensation expense      
Stock-based compensation 2,149 1,975 1,554
RSUs and RSAs      
Schedule of stock-based compensation expense      
Stock-based compensation 1,805 1,770 1,888
PSUs      
Schedule of stock-based compensation expense      
Stock-based compensation 1,087 1,511 1,792
Performance Shares      
Schedule of stock-based compensation expense      
Stock-based compensation 1,902 2,633 1,857
Research and development      
Schedule of stock-based compensation expense      
Stock-based compensation 1,562 2,055 1,444
Selling, general and administrative      
Schedule of stock-based compensation expense      
Stock-based compensation $ 5,381 $ 5,834 $ 5,647