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Stockholders' Equity (Tables) | 9 Months Ended
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Sep. 30, 2021
Equity [Abstract] |
Equity Compensation Goals | ​
​ | ​ | ​
​ |  | Eight Separate Adjusted EBITDA (CEO
Eight Separate Revenue Goals (1) | ​ | Performance Award) Goals
(in thousands) | ​ | (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 business acquisition that was completed during the three months ended September 30, 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 nine months ended September 30, 2021 (number of units and aggregate intrinsic value in thousands): ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ |  | Number of |  | Weighted Average |  | Aggregate
​ | ​ | Units | ​ | Grant-Date Fair Value | ​ | Intrinsic Value
Units outstanding, beginning of year |  | 1,107 | ​ | $ | 76.10 |  | ​ |
Granted |  | 205 | ​ |  | 166.29 |  | ​ |
Released |  | (348) | ​ |  | 55.16 |  | ​ |
Forfeited |  | (108) | ​ |  | 96.25 |  | ​ |
Units outstanding, end of period |  | 856 | ​ |  | 103.70 | ​ | $ | 149,875
Summary of Performance Stock Unit Activity | The following table summarizes PSU activity, inclusive of XSUs, for the nine months ended September 30, 2021 (number of units and aggregate intrinsic value in thousands): ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ |  | Number of |  | Weighted Average |  | Aggregate
​ | ​ | Units | ​ | Grant-Date Fair Value | ​ | Intrinsic Value
Units outstanding, beginning of year |  | 5,618 | ​ | $ | 35.71 |  | ​ |
Granted |  | 236 | ​ |  | 54.16 |  | ​ |
Released |  | (3,896) | ​ |  | 36.50 |  | ​ |
Forfeited |  | (77) | ​ |  | 38.46 |  | ​ |
Units outstanding, end of period |  | 1,881 | ​ |  | 36.29 | ​ | $ | 329,211
Summary of the Company's Stock Options Activity | The following table summarizes stock option activity for the nine months ended September 30, 2021 (number of units and aggregate intrinsic value in thousands):
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ |  | ​ |  | ​ | ​ |  | Weighted |  | ​ | ​
​ | ​ | ​ | ​ | Weighted | ​ | Average | ​ | ​ | ​
​ | ​ | Number | ​ | Average | ​ | Remaining | ​ | ​ | ​
​ | ​ | of | ​ | Exercise | ​ | Contractual | ​ | Aggregate
​ | ​ | Options | ​ | Price | ​ | Life (years) | ​ | Intrinsic Value
Options outstanding, beginning of year |  | 6,366 | ​ | $ | 28.58 |  |  |  | ​ |
Granted |  | — | ​ | ​ | — |  |  |  | ​ |
Exercised |  | — | ​ | ​ | — |  |  |  | ​ |
Expired / terminated |  | — | ​ | ​ | — |  |  |  | ​ |
Options outstanding, end of period |  | 6,366 | ​ |  | 28.58 |  | 6.41 | ​ | $ | 932,216
Options exercisable, end of period |  | 4,774 | ​ |  | 28.58 |  | 6.41 | ​ |  | 699,162
Reported Share-Based Compensation | The following table summarizes the composition of stock-based compensation expense for the three and nine months ended September 30, 2021 and 2020 (in thousands): ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Three Months Ended September 30, | ​ | Nine Months Ended September 30,
​ |  | 2021 |  | 2020 |  | 2021 |  | 2020
Cost of products sold and services delivered | ​ | $ | 1,112 | ​ | $ | 744 | ​ | $ | 4,439 | ​ | $ | 2,170
Sales, general and administrative expenses | ​ |  | 25,969 | ​ |  | 19,117 | ​ |  | 211,073 | ​ |  | 60,853
Research and development expenses | ​ |  | 7,981 | ​ |  | 6,233 | ​ |  | 46,709 | ​ |  | 17,101
Total stock-based compensation expense | ​ | $ | 35,062 | ​ | $ | 26,094 | ​ | $ | 262,221 | ​ | $ | 80,124

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