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Stock-Based Compensation Expense (Tables) | 3 Months Ended
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Mar. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |
Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs | ​
​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Three Months Ended
​ | ​ | March 31,
​ |  | 2022 |  | 2021
Cost of sales | ​ | ​ | ​ | ​ | ​ | ​
Nonqualified stock options | ​ | $ | 588 | ​ | $ | 318
Research and development | ​ |  | ​ | ​ | ​ | ​
Nonqualified stock options | ​ | ​ | 486 | ​ |  | 279
Selling, general and administrative | ​ |  | ​ | ​ | ​ | ​
Nonqualified stock options | ​ | ​ | 1,924 | ​ |  | 1,627
Performance-based restricted stock units | ​ | ​ | 815 | ​ | ​ | 731
Restricted stock units | ​ | ​ | 399 | ​ | ​ | 355
Cash-settled performance-based share-based awards ("Liability Awards") | ​ | ​ | 430 | ​ | ​ | 285
Total selling, general and administrative | ​ | ​ | 3,568 | ​ | ​ | 2,998
​ | ​ | ​ | ​ | ​ | ​ | ​
Stock-based compensation expense before taxes | ​ | $ | 4,642 | ​ | $ | 3,595
Stock Options |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions | ​
​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Three Months Ended |
​ | ​ | March 31, | ​
​ | ​ | 2022 | ​ | 2021 |
Risk-free interest rate |  | 1.4% - 1.8% |  | 0.6% | ​
Expected option term |  | 4 years |  | 4 years | ​
Expected dividend yield |  | — |  | — | ​
Expected price volatility |  | 46.2% - 46.6% |  | 46.7% | ​
Stock-Settled Performance-Based Restricted Stock Units |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions | ​
​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Three Months Ended |
​ | ​ | March 31, | ​
​ | ​ | 2022 | ​ | 2021 |
Risk-free interest rate |  | 1.6% |  | 0.1% - 0.3% | ​
Performance period |  | 2.8 years |  | 1.8 - 2.8 years | ​
Expected dividend yield |  | — |  | — | ​
Expected price volatility |  | 42.6% |  | 43.7% - 49.3% | ​

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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 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 Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. + References No definition available. + Details
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