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Equity Incentive Plans (Tables)
 9 Months Ended
Sep. 30, 2024
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, 2024 and changes during the nine months then ended is presented below: 
 Weighted-Weighted-
 NumberAverageNumberAverage
 of RSUsFair Value RSUs
of PSUs (3)
Fair Value PSUs
Outstanding as of December 31, 2023868,063 $46.45 480,254 $46.07 
Granted309,293 66.70 156,087 66.77 
Vested (1)(2)
(492,950)46.51 (133,099)45.36 
Forfeited(20,635)36.42 (2,275)56.40 
Outstanding as of September 30, 2024663,771 $56.16 500,967 $52.66 

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(1)    Includes 54,117 shares of common stock related to RSU's that were not delivered as of September 30, 2024.
(2)    Based upon the Company’s level of achievement of the applicable performance metrics, the recipients of the 133,099 PSUs that vested during the nine months ended September 30, 2024, were entitled to receive 266,198 shares of common stock. As of September 30, 2024, there were 86,762 shares of common stock that had not been delivered in connection with the vesting of these PSUs.
(3)    Number of PSUs reflects 100% of the target level grant and may not be indicative of the performance level expected to be achieved.
Schedule of Shares of Common Stock Issued
Compensation expense recorded related to the Company's 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)2024202320242023
RSUs$4,505 $4,012 $14,633 $12,966 
PSUs4,378 1,129 8,889 7,911 
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, 2024September 30, 2023
RSUsPSUsRSUsPSUs
Shares of common stock issued477,642 219,831 472,766 231,580 
Shares of common stock withheld by the Company as payment by employees in lieu of cash to satisfy tax withholding obligations
(159,600)(95,814)(128,291)(91,842)
Net shares of common stock issued318,042 124,017 344,475 139,738 
Cumulative undelivered shares of common stock480,608 471,078 457,703 420,447 
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)2024202320242023
Cost of goods sold$439 $340 $1,242 $1,095 
Selling, general and administrative8,207 4,629 21,524 18,875 
Research and development385 336 1,232 1,399 
Total compensation expense before income tax9,031 5,305 23,998 21,369 
Income tax benefit2,024 945 5,433 4,304 
Total compensation expense, net of income tax$7,007 $4,360 $18,565 $17,065