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Equity Incentive Plans (Tables)
9 Months Ended
Sep. 30, 2021
Share-based Payment Arrangement [Abstract]  
Schedule of Restricted and Performance Stock Units
A summary of the Company’s RSUs and PSUs as of September 30, 2021 and changes during the nine months then ended is presented below: 
 Weighted-Weighted-
 NumberAverageNumberAverage
 of RSUsFair Value RSUsof PSUsFair Value PSUs
Outstanding as of December 31, 20201,253,173 $24.33 457,576 $24.55 
Granted312,807 45.77 145,882 45.36 
Vested (1)
(380,097)25.39 — — 
Forfeited(61,002)27.03 (47,210)28.74 
Outstanding as of September 30, 20211,124,881 $29.79 556,248 $29.65 

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(1) Includes 120,178 shares of common stock related to RSUs and no shares of common stock related to PSUs that were not delivered as of September 30, 2021.
Schedule 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:
Nine months endedNine months ended
 September 30, 2021September 30, 2020
RSUsPSUsRSUsPSUs
Shares of common stock issued278,607 — 62,855 789 
Shares of common stock withheld by the Company as payment by employees in lieu of cash to satisfy tax withholding obligations
(89,938)— (16,972)(269)
Net shares of common stock issued188,669 — 45,883 520 
Cumulative undelivered shares of common stock405,334 — 252,601 — 
Schedule of Compensation Expense Recorded in the Consolidated Statement of Operations
Compensation expense recorded related to RSUs and PSUs in the unaudited condensed consolidated statements of operations was as follows:
 Three months endedNine months ended
September 30,September 30,
(in thousands)2021202020212020
RSUs$2,843 $2,876 $9,153 $9,141 
PSUs4,009 634 11,178 444 
Schedule of Compensation Expense Related to Equity Incentive Plans
The allocation of share-based compensation expense in the unaudited condensed consolidated statements of operations was as follows:
 Three months endedNine months ended
September 30,September 30,
(in thousands)2021202020212020
Cost of goods sold$315 $357 $567 $985 
Selling, general and administrative6,299 3,090 19,207 8,379 
Research and development398 227 1,048 713 
Total compensation expense before income tax7,012 3,674 20,822 10,077 
Income tax benefit1,610 811 4,722 2,123 
Total compensation expense, net of income tax$5,402 $2,863 $16,100 $7,954