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Equity Incentive Plans (Tables)
3 Months Ended
Mar. 31, 2023
Share-Based Payment Arrangement [Abstract]  
Schedule of Restricted and Performance Stock Units
A summary of the Company’s RSUs and PSUs as of March 31, 2023 and changes during the three months then ended is presented below: 
 Weighted-Weighted-
 NumberAverageNumberAverage
 of RSUsFair Value RSUs
of PSUs (3)
Fair Value PSUs
Outstanding as of December 31, 2022944,695 $37.48 529,366 $36.30 
Granted337,567 48.58 168,251 48.58 
Vested (1)(2)
(499,896)31.04 (231,127)25.73 
Forfeited(4,179)43.87 (12,377)41.78 
Outstanding as of March 31, 2023778,187 $46.40 454,113 $46.08 

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(1)    Includes 75,157 shares of common stock related to RSU's that were not delivered as of March 31, 2023.
(2)    Based upon the Company’s level of achievement of the applicable performance metrics, the recipients of the 231,127 PSUs that vested during the three months ended March 31, 2023, were entitled to receive 460,684 shares of common stock. As of March 31, 2023, there were 229,205 shares of common stock that had not been delivered in connection with the vesting of these PSUs.
(3)    Number of PSUs assume that 100% of the target level of performance was achieved
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 ended
March 31,
(in thousands)20232022
RSUs$4,154 $2,770 
PSUs2,965 2,419 
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:
Three months endedThree months ended
 March 31, 2023March 31, 2022
RSUsPSUsRSUsPSUs
Shares of common stock issued436,491 231,580 492,580 188,527 
Shares of common stock withheld by the Company as payment by employees in lieu of cash to satisfy tax withholding obligations
(128,291)(91,842)(159,851)(87,215)
Net shares of common stock issued308,200 139,738 332,729 101,312 
Cumulative undelivered shares of common stock471,306 420,447 414,866 191,242 
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 ended
March 31,
(in thousands)20232022
Cost of goods sold$373 $300 
Selling, general and administrative6,223 4,698 
Research and development687 355 
Total compensation expense before income tax7,283 5,353 
Income tax benefit1,492 1,176 
Total compensation expense, net of income tax$5,791 $4,177