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Equity Incentive Plans (Tables)
 12 Months Ended
Dec. 31, 2019
Share-based Payment Arrangement [Abstract]  
Summary of restricted and performance stock units
A summary of the Company’s RSUs and PSUs as of December 31, 2019 and 2018 and changes during the years then ended is presented below: 
 
 
Number
of
RSUs
 
Weighted-
Average
Fair
Value RSUs

Number
of
PSUs
 
Weighted-
Average
Fair
Value PSUs
Outstanding as of December 31, 2017
 
874,942

 
$
20.15


1,185,912

 
$
20.29

Granted
 
473,724

 
23.49


—

 
—

Vested (1)
 
(466,834
)
 
20.52


(900,226
)
 
20.29

Forfeited
 
—

 
—


(285,686
)
 
20.29

Outstanding as of December 31, 2018
 
881,832

 
$
21.75


—

 
$
—

Granted
 
655,522

 
23.51


207,077

 
23.47

Vested (2)
 
(567,836
)
 
20.81


—

 
—

Forfeited
 
(22,275
)
 
23.92


—

 
—

Outstanding as of December 31, 2019
 
947,243

 
$
23.49


207,077

 
$
23.47


_______________________________________________________________________________
(1) 
Included 63,490 shares of common stock related to RSUs and 900,226 shares of common stock related to PSUs that were not delivered as of December 31, 2018. The aggregate fair value of RSUs vested and PSUs vested was $10.0 million and $19.0 million, respectively.
(2) 
Included 161,165 shares of common stock related to RSUs and no shares of common stock related to PSUs that were not delivered as of December 31, 2019. The aggregate fair value of RSUs vested was $12.9 million.
Summary of shares of common stock issued
A summary of shares of common stock issued related to the 2015 Plan, including the impact of any DERs issued in common stock, is presented below:
 
 
Year ended
 
Year ended
 
 
December 31, 2019
 
December 31, 2018
 
 
RSUs
 
PSUs
 
RSUs
 
PSUs
Shares of common stock issued
 
410,787

 
900,226

 
403,538

 
—

Shares of common stock withheld by the Company as payment by employees in lieu of cash to satisfy tax withholding obligations
 
(126,242
)
 
(325,246
)
 
(122,795)

 
—

Net shares of common stock issued
 
284,545

 
574,980

 
280,743

 
—

 
 
 
 
 
 
 
 
 
Cumulative undelivered shares of common stock
 
220,582

 
—

 
63,490

 
900,226
Schedule of the allocation of share-based compensation expense
Compensation expense recorded related to RSUs and PSUs in the consolidated statement of operations was as follows:
 
Year ended December 31,
(in thousands)
2019
 
2018
 
2017
RSU
$
9,140

 
$
12,353

 
$
9,318

PSU
1,507

 
6,210

 
5,967


The allocation of share-based compensation expense in the consolidated statement of operations was as follows:
 
Year ended December 31,
(in thousands)
2019

2018

2017
Cost of goods sold
$
722


$
680


$
408

Selling, general and administrative expense
9,402


16,507


13,687

Research and development
851


1,376


1,190

Total compensation expense before income tax
10,975


18,563


15,285

Income tax benefit
2,440


4,398


3,158

Total compensation expense, net of tax
$
8,535


$
14,165


$
12,127