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Stockholders' Equity (Tables) | 12 Months Ended
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Dec. 31, 2019
Equity [Abstract] |
Equity Compensation Goals |
Eight Separate Revenue Goals (1) (in thousands) |  | Eight Separate Adjusted EBITDA (CEO Performance Award) Goals (in thousands)
Goal #1, $710,058 |  | Goal #9, $125,000
Goal #2, $860,058 |  | Goal #10, $155,000
Goal #3, $1,010,058 |  | Goal #11, $175,000
Goal #4, $1,210,058 |  | Goal #12, $190,000
Goal #5, $1,410,058 |  | Goal #13, $200,000
Goal #6, $1,610,058 |  | Goal #14, $210,000
Goal #7, $1,810,058 |  | Goal #15, $220,000
Goal #8, $2,010,058 |  | Goal #16, $230,000
(1) In connection with the acquisition of Vievu that was completed during 2018, the revenue goals were adjusted for the acquiree's Target Revenue, as defined in the CEO Performance Award agreement.
Summary of Restricted Stock Unit Activity | The following table summarizes RSU activity for the years ended December 31 (number of units and aggregate intrinsic value in thousands):
| 2019 |  | 2018 |  | 2017
| Number of Units |  | Weighted Average Grant-Date Fair Value |  | Number of Units |  | Weighted Average Grant-Date Fair Value |  | Number of Units |  | Weighted Average Grant-Date Fair Value
Units outstanding, beginning of year | 1,655 |  |  | $ | 28.34 |  |  | 2,348 |  |  | $ | 23.47 |  |  | 1,330 |  |  | $ | 20.40 |
Granted | 6,759 |  |  | 37.21 |  |  | 381 |  |  | 46.06 |  |  | 1,731 |  |  | 24.59 |
Released | (650 | ) |  | 25.75 |  |  | (772 | ) |  | 23.85 |  |  | (519 | ) |  | 18.85 |
Forfeited | (482 | ) |  | 34.97 |  |  | (302 | ) |  | 24.73 |  |  | (194 | ) |  | 24.61 |
Units outstanding, end of year | 7,282 |  |  | 36.36 |  |  | 1,655 |  |  | 28.34 |  |  | 2,348 |  |  | 23.47 |
Aggregate intrinsic value at year end | $ | 533,623 |  |  |  |  |  |  |  |  |  |  |
Summary of the Company's Stock Options Activity | The following table summarizes stock option activity for the years ended December 31 (number of options in thousands):
| 2019 |  | 2018 |  | 2017
| Number of Options |  | Weighted Average Exercise Price |  | Number of Options |  | Weighted Average Exercise Price |  | Number of Options |  | Weighted Average Exercise Price
Options outstanding, beginning of year | 6,458 |  |  | $ | 28.24 |  |  | 804 |  |  | $ | 4.99 |  |  | 1,008 |  |  | $ | 5.40 |
Granted | — |  |  | — |  |  | 6,366 |  |  | 28.58 |  |  | — |  |  | — |
Exercised | (27 | ) |  | 4.27 |  |  | (664 | ) |  | 5.09 |  |  | (198 | ) |  | 6.99 |
Expired / terminated | — |  |  | — |  |  | (48 | ) |  | 4.55 |  |  | (6 | ) |  | 8.32 |
Options outstanding, end of year | 6,431 |  |  | 28.34 |  |  | 6,458 |  |  | 28.24 |  |  | 804 |  |  | 4.99 |
Options exercisable, end of year | 65 |  |  | 4.52 |  |  | 92 |  |  | 4.45 |  |  | 775 |  |  | 5.00 |
Summary of Stock Options Outstanding and Exercisable | The following table summarizes information about stock options that were fully vested or expected to vest as of December 31, 2019 (number of options in thousands):
|  | Options Outstanding |  | Options Exercisable
Range of Exercise Price |  | Number of Options Outstanding |  | Weighted Average Exercise Price |  | Weighted Average Remaining Contractual Life (Years) |  | Number of Options Exercisable |  | Weighted Average Exercise Price |  | Weighted Average Remaining Contractual Life (Years)
$4.34 - $4.97 |  | 65 |  |  | $ | 4.52 |  |  | 0.94 |  | 65 |  |  | $ | 4.52 |  |  | 0.94
Reported Share-Based Compensation | We account for stock-based compensation using the fair-value method. Reported stock-based compensation was classified as follows for the years ended December 31 (in thousands):
| 2019 |  | 2018 |  | 2017
Cost of product and service sales | $ | 1,565 |  |  | $ | 511 |  |  | $ | 508 |
Sales, general and administrative expenses | 59,342 |  |  | 12,710 |  |  | 9,047 |
Research and development expenses | 17,588 |  |  | 8,658 |  |  | 6,055 |
Total stock-based compensation expense | $ | 78,495 |  |  | $ | 21,879 |  |  | $ | 15,610 |
Income tax benefit | $ | 11,457 |  |  | $ | 4,049 |  |  | $ | 5,791 |

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