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Employee Stock Purchase Plan, Stock Options and Warrants (Tables) | 12 Months Ended
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Dec. 31, 2020
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, 2020, 2019 and 2018, consisted of the following (in thousands): ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ |  | 2020 |  | 2019 |  | 2018
Cost of sales | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
Nonqualified stock options | ​ | $ | 1,357 | ​ | $ | 1,289 | ​ | $ | 870
Research and development | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
Nonqualified stock options | ​ | ​ | 1,157 | ​ | ​ | 961 | ​ | ​ | 553
Selling, general and administrative |  | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
Nonqualified stock options | ​ | ​ | 7,332 | ​ | ​ | 7,132 | ​ | ​ | 4,694
Performance-based restricted stock units | ​ | ​ | 2,829 | ​ | ​ | — | ​ | ​ | —
Restricted stock units | ​ | ​ | 758 | ​ | ​ | — | ​ | ​ | —
Cash-settled share-based awards | ​ | ​ | 906 | ​ | ​ | — | ​ | ​ | —
Total selling, general and administrative | ​ | ​ | 11,825 | ​ | ​ | 7,132 | ​ | ​ | 4,694
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
Stock-based compensation expense before taxes |  | $ | 14,339 | ​ | $ | 9,382 | ​ | $ | 6,117
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 years ended December 31, 2020, 2019 and 2018:
​ | ​ | ​ | ​ | ​ | ​ | ​
​ |  | 2020 |  | 2019 |  | 2018
Risk-free interest rate | ​ | 0.29% - 1.67% | ​ | 1.38% - 2.56% | ​ | 2.63% - 2.77%
Expected option term | ​ | 4.0 - 5.0 years | ​ | 3.0 - 5.0 years | ​ | 5.0 years
Expected dividend yield | ​ | — | ​ | — | ​ | —
Expected price volatility | ​ | 38.65% - 45.12% | ​ | 28.66% - 39.38% | ​ | 34.06% - 34.32%
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, 2020, 2019 and 2018 (in thousands):
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ |  | 2020 |  | 2019 |  | 2018
Total intrinsic value of stock options exercised | ​ | $ | 11,733 | ​ | $ | 9,910 | ​ | $ | 25,692
Cash received from stock option exercises | ​ |  | 5,481 | ​ |  | 4,837 | ​ |  | 8,510
Excess tax benefit from the exercise of stock options | ​ |  | 1,815 | ​ |  | 1,654 | ​ |  | 4,278
Schedule of Share-based Compensation, Stock Options, Activity | Changes in stock options for the year ended December 31, 2020, 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 |  | 4,319 | ​ | $ | 34.10 |  |  |  | ​ |
Granted |  | 329 | ​ |  | 39.21 |  |  |  | ​ |
Exercised |  | (442) | ​ |  | 16.17 |  |  |  | ​ |
Forfeited/expired |  | (264) | ​ |  | 42.37 |  |  |  | ​ |
Outstanding at December 31 |  | 3,942 | ​ |  | 35.98 |  | 3.97 | ​ | $ | 77,350
Exercisable |  | 1,936 | ​ |  | 29.38 |  | 2.95 | ​ |  | 50,678
Ending vested and expected to vest |  | 3,860 | ​ |  | 35.79 |  | 3.94 | ​ |  | 76,482
Schedule of Share-based Compensation, PSUs, Activity | Changes in PSUs and RSUs for the year ended December 31, 2020, consisted of the following:
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | PSUs | ​ | RSUs
​ | ​ | ​ | ​ | Weighted Average | ​ | ​ | ​ | Weighted Average
​ | ​ | Stock Units | ​ | Grant Date | ​ | Stock Units | ​ | Grant Date
​ |  | (In Thousands) |  | Fair Value |  | (In Thousands) |  | Fair Value
Beginning nonvested balance |  | — | ​ | $ | — |  | — | ​ | $ | —
Granted |  | 122 | ​ |  | 43.60 |  | 34 |  |  | 42.98
Vested |  | — | ​ |  | — |  | — |  |  | —
Impact of amendments |  | (20) | ​ |  | 43.43 |  | — |  |  | —
Nonvested balance at December 31 |  | 102 | ​ |  | 43.63 |  | 34 | ​ |  | 42.98
Expected to vest at December 31, 2020 |  | 102 | (1) |  | 43.63 |  | 34 | ​ |  | 42.98
| (1) | Based on the maximum target payout of 100% for one-year awards, as amended, and 200% for two and three-year awards. Each unit will convert to between .75 and 1.25 shares of common stock based upon the rTSR performance of our common stock.
Schedule of Share-based Compensation, PSUs and RSUs, Activity | The fair value of each PSU was estimated as of the grant date using the following assumptions for awards granted in the year ended December 31, 2020: ​
​ | ​ | ​
​ | ​ | 2020
Risk-free interest rate |  | 1.1% - 1.3%
Performance period |  | 0.8 - 2.8 years
Expected dividend yield |  | —
Expected price volatility |  | 40.2% - 56.1%

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- Definition Tabular disclosure of the number and weighted-average grant date fair value for equity instruments other than options that were outstanding at the beginning and end of the year, and the number of restricted stock units that were granted, vested, or forfeited during the year. + References No definition available. + Details
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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=120381028&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=120381028&loc=d3e5047-113901 + 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=120381028&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=120381028&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=120381028&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=120381028&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=120381028&loc=d3e5070-113901 + Details
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