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Stock-Based Compensation Expense (Tables) | 9 Months Ended
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Sep. 30, 2024
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, 2024 and 2023 consisted of the following (in thousands): ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Three Months Ended | ​ | Nine Months Ended
​ | ​ | September 30, | ​ | September 30,
​ |  | 2024 |  | 2023 |  | 2024 |  | 2023
Cost of sales | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
Nonqualified stock options | ​ | $ | 150 | ​ | $ | 367 | ​ | $ | 875 | ​ | $ | 1,240
Research and development | ​ |  | ​ | ​ | ​ | ​ | ​ |  | ​ | ​ | ​ | ​
Nonqualified stock options | ​ | ​ | 440 | ​ |  | 488 | ​ | ​ | 1,221 | ​ |  | 1,329
Selling, general and administrative | ​ |  | ​ | ​ | ​ | ​ | ​ |  | ​ | ​ | ​ | ​
Nonqualified stock options | ​ | ​ | 1,442 | ​ |  | 2,083 | ​ | ​ | 4,689 | ​ |  | 5,304
Performance-based restricted stock units | ​ | ​ | 2,884 | ​ | ​ | 1,838 | ​ | ​ | 7,648 | ​ | ​ | 4,470
Restricted stock units | ​ | ​ | 1,074 | ​ | ​ | 430 | ​ | ​ | 2,792 | ​ | ​ | 1,341
Cash-settled performance-based awards | ​ | ​ | 723 | ​ | ​ | 591 | ​ | ​ | 1,733 | ​ | ​ | 1,662
Total selling, general and administrative | ​ | ​ | 6,123 | ​ | ​ | 4,942 | ​ | ​ | 16,862 | ​ | ​ | 12,777
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
Stock-based compensation expense before taxes | ​ | $ | 6,713 | ​ | $ | 5,797 | ​ | $ | 18,958 | ​ | $ | 15,346
Employee Stock Option |
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
Risk-free interest rate | 3.6% - 4.6%
Expected option term | 4.0 years
Expected dividend yield | —
Expected price volatility | 44.6% - 47.1%
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,
​ | ​ | 2024 | ​ | 2023
Risk-free interest rate |  | 4.4% |  | 3.9% - 4.6%
Performance period |  | 2.8 years |  | 2.8 years
Expected dividend yield |  | — |  | —
Expected price volatility |  | 31.1% |  | 31.4% - 32.6%

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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 -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1) -Publisher FASB -URI https://asc.fasb.org/1943274/2147480429/718-10-50-2 + 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 -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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