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Employee Stock Purchase Plan, Stock Options and Warrants (Tables) | 12 Months Ended
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Dec. 31, 2021
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, 2021, 2020 and 2019, consisted of the following (in thousands): ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ |  | 2021 |  | 2020 |  | 2019
Cost of sales | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
Nonqualified stock options | ​ | $ | 1,476 | ​ | $ | 1,357 | ​ | $ | 1,289
Research and development | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
Nonqualified stock options | ​ | ​ | 1,343 | ​ | ​ | 1,157 | ​ | ​ | 961
Selling, general and administrative |  | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
Nonqualified stock options | ​ | ​ | 6,678 | ​ | ​ | 7,332 | ​ | ​ | 7,132
Performance-based restricted stock units | ​ | ​ | 3,525 | ​ | ​ | 2,829 | ​ | ​ | —
Restricted stock units | ​ | ​ | 1,557 | ​ | ​ | 758 | ​ | ​ | —
Cash-settled performance-based share-based awards ("Liability Awards") | ​ | ​ | 1,511 | ​ | ​ | 906 | ​ | ​ | —
Total selling, general and administrative | ​ | ​ | 13,271 | ​ | ​ | 11,825 | ​ | ​ | 7,132
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
Stock-based compensation expense before taxes |  | $ | 16,090 | ​ | $ | 14,339 | ​ | $ | 9,382
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, 2021, 2020 and 2019:
​ | ​ | ​ | ​ | ​ | ​ | ​
​ |  | 2021 |  | 2020 |  | 2019
Risk-free interest rate | ​ | 0.5% - 1.1% | ​ | 0.3% - 1.7% | ​ | 1.4% - 2.6%
Expected option term | ​ | 4.0 years | ​ | 4.0 - 5.0 years | ​ | 3.0 - 5.0 years
Expected dividend yield | ​ | — | ​ | — | ​ | —
Expected price volatility | ​ | 46.1% - 46.7% | ​ | 38.7% - 45.1% | ​ | 28.7% - 39.4%
Schedule of Share-based Compensation, Stock Option Activity | The table below presents information related to stock option activity for the years ended December 31, 2021, 2020 and 2019 (in thousands):
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ |  | 2021 |  | 2020 |  | 2019
Total intrinsic value of stock options exercised | ​ | $ | 36,086 | ​ | $ | 11,733 | ​ | $ | 9,910
Cash received from stock option exercises | ​ |  | 20,194 | ​ |  | 5,481 | ​ |  | 4,837
Excess tax benefit from the exercise of stock options | ​ |  | 5,571 | ​ |  | 1,815 | ​ |  | 1,654
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding and Exercisable | Changes in stock options for the year ended December 31, 2021, 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 |  | 3,942 | ​ | $ | 35.98 |  |  |  | ​ |
Granted |  | 716 | ​ |  | 66.60 |  |  |  | ​ |
Exercised |  | (883) | ​ |  | 23.08 |  |  |  | ​ |
Forfeited/expired |  | (135) | ​ |  | 47.60 |  |  |  | ​ |
Outstanding at December 31 |  | 3,640 | ​ |  | 44.70 |  | 3.90 | ​ | $ | 67,868
Exercisable |  | 1,762 | ​ |  | 35.86 |  | 2.80 | ​ |  | 46,601
Ending vested and expected to vest |  | 3,537 | ​ |  | 44.32 |  | 3.85 | ​ |  | 67,063
Schedule of Share-based Compensation, PSUs and RSUs, Activity | Changes in PSUs and RSUs for the year ended December 31, 2021, consisted of the following:
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | PSUs | ​ | RSUs
​ | ​ | ​ | ​ | Weighted Average | ​ | ​ | ​ | Weighted Average
​ | ​ | Stock Units | ​ | Grant Date | ​ | Stock Units | ​ | Grant Date
​ |  | (In Thousands) | (1) | Fair Value |  | (In Thousands) |  | Fair Value
Beginning nonvested balance |  | 102 | ​ | $ | 43.63 |  | 34 | ​ | $ | 42.98
Granted |  | 103 | ​ |  | 61.39 |  | 26 |  |  | 61.77
rTSR adjustment | ​ | 5 | (2) | ​ | 43.43 | ​ | — | ​ | ​ | —
Vested |  | (26) | ​ |  | 43.43 |  | (34) |  |  | 42.98
Forfeited |  | (21) | ​ |  | 52.56 |  | — |  |  | —
Nonvested balance at December 31 |  | 163 | ​ |  | 53.71 |  | 26 | ​ |  | 61.77
| (1) | Based on the maximum payout, excluding the impact of the rTSR multiplier. The actual number of shares which vest is determined based on the satisfaction of performance conditions and the application of an rTSR multiplier between 75% and 125%.
| (2) | Represents the application of an rTSR multiplier of 125% to awards vested in 2021 based on the performance of our common stock and the terms of the awards.
Schedule of Share-based Compensation, PSUs and RSUs Granted | The following table summarizes PSUs and RSUs granted during the years ended December 31, 2021, 2020 and 2019 (units and shares in thousands): ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ |  | 2021 |  | 2020 |  | 2019
PSUs | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
Target units granted | ​ | ​ | 52 | ​ | ​ | 61 | ​ | ​ | —
Maximum units granted (1) | ​ | ​ | 103 | ​ | ​ | 102 | (3) | ​ | —
Maximum potential shares (1)(2) | ​ | ​ | 129 | ​ | ​ | 127 | (3) | ​ | —
Weighted average grant date fair value | ​ | $ | 61.39 | ​ | $ | 43.63 | ​ | ​ | N/A
RSUs |  | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
Units granted | ​ | ​ | 26 | ​ | ​ | 34 | ​ | ​ | —
Weighted average grant date fair value | ​ | $ | 61.77 | ​ | $ | 42.98 | ​ | ​ | N/A
| (1) | Based on the maximum payout, excluding the impact of the rTSR multiplier.
| (2) | Includes the impact of the maximum potential rTSR multiplier of 125%.
| (3) | Includes the impact of the 2020 amendment which reduced the maximum FCF multiplier for one-year awards from 200% to 100%.
Schedule of Share-based Payment Award, PSUs, Valuation Assumptions | The fair value of each PSU was estimated as of the grant date using the following assumptions for awards granted in the years ended December 31, 2021 and 2020: ​
​ | ​ | ​ | ​ | ​ | ​
​ | ​ | 2021 | ​ | 2020 |
Risk-free interest rate |  | 0.1% - 0.3% |  | 1.1% - 1.3% | ​
Performance period |  | 1.8 - 2.8 years |  | 0.8 - 2.8 years | ​
Expected dividend yield |  | — |  | — | ​
Expected price volatility |  | 43.7% - 49.3% |  | 40.2% - 56.1% | ​

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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of performance shares, 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 No definition available. + Details
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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 Disclosure of the number and weighted-average grant date fair value for performance shares and restricted stock units that were outstanding at the beginning and end of the year, and the number of restricted stock and 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=122041274&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 of the total intrinsic value of options exercised (or share units converted), share-based liabilities paid, and the total fair value of shares vested during the year. + 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)(2) -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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