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Stock-Based Compensation Expense (Tables) | 9 Months Ended
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Sep. 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 nine-month periods ended September 30, 2023 and 2022 consisted of the following (in thousands): ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Three Months Ended | ​ | Nine Months Ended
​ | ​ | September 30, | ​ | September 30,
​ |  | 2023 |  | 2022 |  | 2023 |  | 2022
Cost of sales | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
Nonqualified stock options | ​ | $ | 367 | ​ | $ | 150 | ​ | $ | 1,240 | ​ | $ | 1,247
Research and development | ​ |  | ​ | ​ | ​ | ​ | ​ |  | ​ | ​ | ​ | ​
Nonqualified stock options | ​ | ​ | 488 | ​ |  | 476 | ​ | ​ | 1,329 | ​ |  | 1,412
Selling, general and administrative | ​ |  | ​ | ​ | ​ | ​ | ​ |  | ​ | ​ | ​ | ​
Nonqualified stock options | ​ | ​ | 2,083 | ​ |  | 2,166 | ​ | ​ | 5,304 | ​ |  | 5,297
Performance-based restricted stock units | ​ | ​ | 1,838 | ​ | ​ | 647 | ​ | ​ | 4,470 | ​ | ​ | 2,719
Restricted stock units | ​ | ​ | 430 | ​ | ​ | 454 | ​ | ​ | 1,341 | ​ | ​ | 1,382
Cash-settled performance-based share-based awards ("Liability Awards") | ​ | ​ | 591 | ​ | ​ | 705 | ​ | ​ | 1,662 | ​ | ​ | 1,634
Total selling, general and administrative | ​ | ​ | 4,942 | ​ | ​ | 3,972 | ​ | ​ | 12,777 | ​ | ​ | 11,032
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
Stock-based compensation expense before taxes | ​ | $ | 5,797 | ​ | $ | 4,598 | ​ | $ | 15,346 | ​ | $ | 13,691
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 | ​
​ | ​ | ​ | ​ | ​
​ | ​ | Nine Months Ended
​ | ​ | September 30,
​ | ​ | 2023 | ​ | 2022
Risk-free interest rate |  | 3.6% - 4.6% |  | 1.4% - 3.4%
Expected option term |  | 4.0 years |  | 4.0 years
Expected dividend yield |  | — |  | —
Expected price volatility |  | 44.6% - 47.1% |  | 46.2% - 47.4%
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,
​ | ​ | 2023 | ​ | 2022
Risk-free interest rate |  | 3.9% - 4.6% |  | 1.6% - 2.7%
Performance period |  | 2.8 years |  | 2.6 - 2.8 years
Expected dividend yield |  | — |  | —
Expected price volatility |  | 31.4% - 32.6% |  | 38.5% - 46.2%

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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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