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Stock-Based Compensation Expense (Tables) | 6 Months Ended
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Jun. 30, 2023
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 six-month periods ended June 30, 2023 and 2022 consisted of the following (in thousands): ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Three Months Ended | ​ | Six Months Ended
​ | ​ | June 30, | ​ | June 30,
​ |  | 2023 |  | 2022 |  | 2023 |  | 2022
Cost of sales | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
Nonqualified stock options | ​ | $ | 432 | ​ | $ | 509 | ​ | $ | 873 | ​ | $ | 1,097
Research and development | ​ |  | ​ | ​ | ​ | ​ | ​ |  | ​ | ​ | ​ | ​
Nonqualified stock options | ​ | ​ | 413 | ​ |  | 450 | ​ | ​ | 841 | ​ |  | 936
Selling, general and administrative | ​ |  | ​ | ​ | ​ | ​ | ​ |  | ​ | ​ | ​ | ​
Nonqualified stock options | ​ | ​ | 1,851 | ​ |  | 1,207 | ​ | ​ | 3,221 | ​ |  | 3,131
Performance-based restricted stock units | ​ | ​ | 1,817 | ​ | ​ | 1,257 | ​ | ​ | 2,632 | ​ | ​ | 2,072
Restricted stock units | ​ | ​ | 467 | ​ | ​ | 529 | ​ | ​ | 911 | ​ | ​ | 928
Cash-settled performance-based share-based awards ("Liability Awards") | ​ | ​ | 600 | ​ | ​ | 499 | ​ | ​ | 1,071 | ​ | ​ | 929
Total selling, general and administrative | ​ | ​ | 4,735 | ​ | ​ | 3,492 | ​ | ​ | 7,835 | ​ | ​ | 7,060
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
Stock-based compensation expense before taxes | ​ | $ | 5,580 | ​ | $ | 4,451 | ​ | $ | 9,549 | ​ | $ | 9,093
Employee Stock Option [Member] |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions | ​
​ | ​ | ​ | ​ | ​
​ | ​ | Six Months Ended
​ | ​ | June 30,
​ | ​ | 2023 | ​ | 2022
Risk-free interest rate |  | 3.6% - 4.5% |  | 1.4% - 3.0%
Expected option term |  | 4.0 years |  | 4.0 years
Expected dividend yield |  | — |  | —
Expected price volatility |  | 46.7% - 47.1% |  | 46.2% - 47.0%
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 | ​
​ | ​ | ​ | ​ | ​
​ | ​ | Six Months Ended
​ | ​ | June 30,
​ | ​ | 2023 | ​ | 2022
Risk-free interest rate |  | 3.9% - 4.6% |  | 1.6%
Performance period |  | 2.8 years |  | 2.8 years
Expected dividend yield |  | — |  | —
Expected price volatility |  | 31.4% - 32.6% |  | 42.6%

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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 -Topic 718 -SubTopic 10 -Subparagraph (f)(2) -Name Accounting Standards Codification -Paragraph 2 -Section 50 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Line items represent financial concepts included in a table. 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