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Stock-Based Compensation Expense (Tables) | 9 Months Ended
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Sep. 30, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |
Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs | Stock-based compensation expense before income tax expense for the three and nine-month periods ended September 30, 2022 and 2021 consisted of the following (in thousands): ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Three Months Ended | ​ | Nine Months Ended
​ | ​ | September 30, | ​ | September 30,
​ |  | 2022 |  | 2021 |  | 2022 |  | 2021
Cost of sales | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
Nonqualified stock options | ​ | $ | 150 | ​ | $ | 383 | ​ | $ | 1,247 | ​ | $ | 1,019
Research and development | ​ |  | ​ | ​ | ​ | ​ | ​ |  | ​ | ​ | ​ | ​
Nonqualified stock options | ​ | ​ | 476 | ​ |  | 355 | ​ | ​ | 1,412 | ​ |  | 910
Selling, general and administrative | ​ |  | ​ | ​ | ​ | ​ | ​ |  | ​ | ​ | ​ | ​
Nonqualified stock options | ​ | ​ | 2,166 | ​ |  | 2,071 | ​ | ​ | 5,297 | ​ |  | 4,512
Performance-based restricted stock units | ​ | ​ | 647 | ​ | ​ | 1,193 | ​ | ​ | 2,719 | ​ | ​ | 2,896
Restricted stock units | ​ | ​ | 454 | ​ | ​ | 409 | ​ | ​ | 1,382 | ​ | ​ | 1,149
Cash-settled performance-based share-based awards ("Liability Awards") | ​ | ​ | 705 | ​ | ​ | 446 | ​ | ​ | 1,634 | ​ | ​ | 1,103
Total selling, general and administrative | ​ | ​ | 3,972 | ​ | ​ | 4,119 | ​ | ​ | 11,032 | ​ | ​ | 9,660
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
Stock-based compensation expense before taxes | ​ | $ | 4,598 | ​ | $ | 4,857 | ​ | $ | 13,691 | ​ | $ | 11,589
Stock Options |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions | ​
​ | ​ | ​ | ​ | ​
​ | ​ | Nine Months Ended
​ | ​ | September 30,
​ | ​ | 2022 | ​ | 2021
Risk-free interest rate |  | 1.4% - 3.4% |  | 0.5% - 0.7%
Expected option term |  | 4.0 years |  | 4.0 years
Expected dividend yield |  | — |  | —
Expected price volatility |  | 46.2% - 47.4% |  | 46.3% - 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 | ​
​ | ​ | ​ | ​ | ​
​ | ​ | Nine Months Ended
​ | ​ | September 30,
​ | ​ | 2022 | ​ | 2021
Risk-free interest rate |  | 1.6% - 2.7% |  | 0.1% - 0.3%
Performance period |  | 2.6 - 2.8 years |  | 1.8 - 2.8 years
Expected dividend yield |  | — |  | —
Expected price volatility |  | 38.5% - 46.2% |  | 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 https://asc.fasb.org/extlink&oid=128089324&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 https://asc.fasb.org/extlink&oid=128089324&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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