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Employee Stock Purchase Plan, Stock Options and Warrants (Tables) | 12 Months Ended
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Dec. 31, 2019
Share-based Payment Arrangement [Abstract] |
Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs | The stock-based compensation expense before income tax expense for the years ended December 31, 2019, 2018 and 2017, consisted of the following (in thousands): ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | 2019 |  | 2018 |  | 2017
Cost of sales | $ | 1,289 | ​ | $ | 870 | ​ | $ | 632
Research and development | ​ | 961 | ​ | ​ | 553 | ​ | ​ | 376
Selling, general and administrative | ​ | 7,132 | ​ | ​ | 4,694 | ​ | ​ | 3,067
Stock-based compensation expense before taxes | $ | 9,382 | ​ | $ | 6,117 | ​ | $ | 4,075
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions | In applying the Black-Scholes methodology to the option grants, the fair value of our stock-based awards granted were estimated using the following assumptions for the periods indicated below:
​ | ​ | ​ | ​ | ​ | ​ | ​
​ |  | 2019 |  | 2018 |  | 2017
Risk-free interest rate | ​ | 1.38% - 2.56% | ​ | 2.63% - 2.77% | ​ | 1.77% - 1.83%
Expected option term | ​ | 3.0 - 5.0 years | ​ | 5.0 years | ​ | 5.0 years
Expected dividend yield | ​ | — | ​ | — | ​ | —
Expected price volatility | ​ | 28.66% - 39.38% | ​ | 34.06% - 34.32% | ​ | 33.81% - 34.07%
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding and Exercisable | The table below presents information related to stock option activity for the years ended December 31, 2019, 2018 and 2017 (in thousands):
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ |  | 2019 |  | 2018 |  | 2017
Total intrinsic value of stock options exercised | ​ | $ | 9,910 | ​ | $ | 25,692 | ​ | $ | 9,264
Cash received from stock option exercises | ​ |  | 4,837 | ​ |  | 8,510 | ​ |  | 5,552
Excess tax benefit from the exercise of stock options | ​ |  | 1,654 | ​ |  | 4,278 | ​ |  | 2,264
Schedule of Share-based Compensation, Stock Options, Activity | Changes in stock options for the year ended December 31, 2019, consisted of the following (shares and intrinsic value in thousands):
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Number | ​ | Weighted Average | ​ | Remaining Contractual | ​ | Intrinsic
​ |  | of Shares |  | Exercise Price |  | Term (in years) |  | Value
Beginning balance |  | 3,507 | ​ | $ | 26.30 |  |  |  | ​ |
Granted |  | 1,244 | ​ |  | 52.45 |  |  |  | ​ |
Exercised |  | (288) | ​ |  | 16.48 |  |  |  | ​ |
Forfeited/expired |  | (144) | ​ |  | 37.86 |  |  |  | ​ |
Outstanding at December 31 |  | 4,319 | ​ |  | 34.10 |  | 4.40 | ​ | $ | 23,512
Exercisable |  | 1,532 | ​ |  | 21.98 |  | 3.07 | ​ |  | 16,403
Ending vested and expected to vest |  | 4,186 | ​ |  | 33.77 |  | 4.36 | ​ |  | 23,344
Schedule of Share-based Compensation, Shares Authorized under Stock Option Plans, by Exercise Price Range | The following table summarizes information about stock options outstanding at December 31, 2019 (shares in thousands): ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Options Outstanding | ​ | Options Exercisable
​ | ​ | ​ | ​ | Weighted Average | ​ | Weighted | ​ | ​ | ​ | ​ | ​
​ | ​ | Number | ​ | Remaining Contractual | ​ | Average Exercise | ​ | Number | ​ | Weighted Average
Range of Exercise |  | Outstanding |  | Life (in years) |  | Price |  | Exercisable |  | Exercise Price
$9.95 - $17.27 |  | 1,052 |  | 2.27 | ​ | $ | 15.04 |  | 795 | ​ | $ | 14.62
$18.80 - $25.89 |  | 335 |  | 3.32 | ​ | $ | 20.36 |  | 200 | ​ | $ | 20.25
$28.20 |  | 914 |  | 4.26 | ​ | $ | 28.20 |  | 335 | ​ | $ | 28.20
$28.93 - $50.50 | ​ | 957 | ​ | 5.29 | ​ | $ | 42.02 | ​ | 202 | ​ | $ | 42.36
$51.31 - $57.26 |  | 1,061 |  | 6.18 | ​ | $ | 55.28 |  | — | ​ | $ | —
$9.95 - $57.26 |  | 4,319 |  |  | ​ |  |  |  | 1,532 | ​ |  |

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- Definition Tabular disclosure of allocation of amount expensed and capitalized for award under share-based payment arrangement to statement of income or comprehensive income and statement of financial position. Includes, but is not limited to, corresponding line item in financial statement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -URI http://asc.fasb.org/extlink&oid=115993241&loc=d3e301413-122809 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 1 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5047-113901 + Details
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- Definition Tabular disclosure of option exercise prices, by grouped ranges, including the upper and lower limits of the price range, the number of shares under option, weighted average exercise price and remaining contractual option terms. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of number, weighted-average exercise price or conversion ratio, aggregate intrinsic value, and weighted-average remaining contractual term for outstanding and exercisable options that are fully vested and expected to vest. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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