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Stockholders' Equity (Tables) | 9 Months Ended
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Sep. 30, 2023
Stockholders' Equity |
Summary of Restricted Stock Unit Activity | The following table summarizes RSU activity for the nine months ended September 30, 2023 (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 |  | 1,565 | ​ | $ | 145.38 |  | ​ |
Granted |  | 464 | ​ | ​ | 203.71 |  | ​ |
Released |  | (371) | ​ | ​ | 118.04 |  | ​ |
Forfeited |  | (104) | ​ | ​ | 155.25 |  | ​ |
Units outstanding, end of period |  | 1,554 | ​ |  | 168.67 | ​ | $ | 309,283
Summary of Performance Stock Unit Activity | The following table summarizes PSU activity, inclusive of XSUs, for the nine months ended September 30, 2023 (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 |  | 1,369 | ​ | $ | 43.43 |  | ​ |
Granted |  | 171 | ​ |  | 187.74 |  | ​ |
Released |  | (1,222) | ​ |  | 36.60 |  | ​ |
Forfeited |  | (43) | ​ |  | 27.52 |  | ​ |
Units outstanding, end of period |  | 275 | ​ |  | 166.05 | ​ | $ | 54,768
Summary of the Company's Stock Options Activity | The following table summarizes stock option activity for the nine months ended September 30, 2023 (number of options 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 |  | 2,438 | ​ | $ | 28.58 |  |  |  | ​ |
Granted |  | — | ​ |  | — |  |  |  | ​ |
Exercised |  | (1,907) | ​ |  | 28.58 |  |  |  | ​ |
Expired / terminated |  | — | ​ |  | — |  | ​ |  | ​ |
Options outstanding and exercisable, end of period |  | 531 | ​ |  | 28.58 |  | 4.41 | ​ | $ | 90,476
Reported Share-Based Compensation | The following table summarizes the composition of stock-based compensation expense for the three and nine months ended September 30, 2023 and 2022 (in thousands): ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Three Months Ended September 30, | ​ | Nine Months Ended September 30,
​ |  | 2023 |  | 2022 |  | 2023 |  | 2022
Cost of product sales and service sales | ​ | $ | 1,687 | ​ | $ | 1,157 | ​ | $ | 4,685 | ​ | $ | 3,331
Sales, general and administrative expenses | ​ |  | 12,886 | ​ |  | 14,268 | ​ |  | 43,232 | ​ |  | 35,860
Research and development expenses | ​ |  | 15,414 | ​ |  | 12,779 | ​ |  | 48,311 | ​ |  | 35,263
Total stock-based compensation expense | ​ | $ | 29,987 | ​ | $ | 28,204 | ​ | $ | 96,228 | ​ | $ | 74,454

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