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Stock-Based Compensation (Tables) | 12 Months Ended
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Dec. 31, 2019
Share-based Payment Arrangement [Abstract] |
Schedule of Stock-Based Compensation Expense | Stock-based compensation expense consisted of the following:
|  | Year Ended December 31, |  |  |  |  |
(in thousands) |  | 2019 |  | 2018 |  | 2017
Cost of sales |  | $ | 278 |  |  | $ | 250 |  |  | $ | 243 |
SG&A expense |  | 17,554 |  |  | 14,041 |  |  | 11,043 |
Pre-tax stock-based compensation expense |  | 17,832 |  |  | 14,291 |  |  | 11,286 |
Income tax benefits |  | (4,009) |  |  | (3,218) |  |  | (1,778) |
Total stock-based compensation expense, net of tax |  | $ | 13,823 |  |  | $ | 11,073 |  |  | $ | 9,508 |
Schedule of Weighted Average Assumptions | The following table presents the weighted average assumptions for stock options granted and resulting fair value in the years ended December 31:
|  | 2019 |  | 2018 |  | 2017
Expected option term |  | 4.50 years |  | 4.50 years |  | 4.54 years
Expected stock price volatility |  | 27.14% |  |  | 28.39% |  |  | 28.91% |
Risk-free interest rate |  | 2.49% |  |  | 2.47% |  |  | 1.73% |
Expected annual dividend yield |  | 1.03% |  |  | 1.15% |  |  | 1.29% |
Weighted average grant date fair value per share |  | $22.51 |  |  | $18.86 |  |  | $13.11 |
Summary of Stock Option Activity | The following table summarizes stock option activity under the Plan:
|  | Number of Shares |  | Weighted Average Exercise Price |  | Weighted Average Remaining Contractual Life |  | Aggregate Intrinsic Value (1) (in thousands)
Options outstanding at January 1, 2017 |  | 2,151,542 |  |  | $ | 37.40 |  |  | 6.39 |  | $ | 45,253 |
Granted |  | 540,537 |  |  | 55.90 |  |  |  |  |
Cancelled |  | (246,450) |  |  | 50.62 |  |  |  |  |
Exercised |  | (675,742) |  |  | 29.52 |  |  |  |  |
Options outstanding at December 31, 2017 |  | 1,769,887 |  |  | 44.22 |  |  | 6.69 |  | 48,962 |
Granted |  | 402,010 |  |  | 76.48 |  |  |  |  |
Cancelled |  | (67,440) |  |  | 60.75 |  |  |  |  |
Exercised |  | (499,836) |  |  | 36.98 |  |  |  |  |
Options outstanding at December 31, 2018 |  | 1,604,621 |  |  | 53.86 |  |  | 6.95 |  | 48,703 |
Granted |  | 395,653 |  |  | 93.98 |  |  |  |  |
Cancelled |  | (68,275) |  |  | 74.10 |  |  |  |  |
Exercised |  | (452,325) |  |  | 43.76 |  |  |  |  |
Options outstanding at December 31, 2019 |  | 1,479,674 |  |  | $ | 66.74 |  |  | 7.11 |  | $ | 49,930 |
Options vested and expected to vest at December 31, 2019 |  | 1,421,269 |  |  | $ | 66.05 |  |  | 7.05 |  | $ | 48,915 |
Options exercisable at December 31, 2019 |  | 605,469 |  |  | $ | 50.57 |  |  | 5.48 |  | $ | 30,048 |
Schedule Of Weighted Average Assumptions for Restricted Stock Units | The following table presents the weighted average assumptions for restricted stock units granted in the years ended December 31:
|  | 2019 |  | 2018 |  | 2017
Vesting period |  | 3.76 years |  | 3.77 years |  | 3.87 years
Expected annual dividend yield |  | 0.97% |  |  | 1.15% |  |  | 1.30% |
Weighted average grant date fair value per restricted stock unit granted |  | $94.58 |  |  | $73.74 |  |  | $52.45 |
Summary of Restricted Stock Unit Activity | The following table summarizes the restricted stock unit activity under the Plan:
|  | Number of Shares |  | Weighted Average Grant Date Fair Value Per Share
Restricted stock units outstanding at January 1, 2017 |  | 466,475 |  |  | $ | 47.23 |
Granted |  | 270,169 |  |  | 52.45 |
Vested(1) |  | (176,654) |  |  | 42.32 |
Forfeited |  | (110,515) |  |  | 48.13 |
Restricted stock units outstanding at December 31, 2017 |  | 449,475 |  |  | 52.07 |
Granted |  | 197,299 |  |  | 73.74 |
Vested(1) |  | (155,847) |  |  | 50.97 |
Forfeited |  | (66,926) |  |  | 53.19 |
Restricted stock units outstanding at December 31, 2018 |  | 424,001 |  |  | 62.38 |
Granted |  | 177,618 |  |  | 94.58 |
Vested(1) |  | (163,195) |  |  | 60.45 |
Forfeited |  | (33,320) |  |  | 72.35 |
Restricted stock units outstanding at December 31, 2019 |  | 405,104 |  |  | $ | 76.45 |

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