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Stock Compensation (Tables) | 12 Months Ended
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Dec. 31, 2022
Share-based Payment Arrangement [Abstract] |
Schedule of Shares Available for Grant | We are currently authorized to grant and have available for grant the following number of shares under our stock plans as of December 31, 2022 and 2021:
|  | Authorized Shares |  | Available for Grant
Plan |  |  | 2022 |  | 2021
1996 Discounted Employee Stock Purchase Plan, as amended |  | 2,900,000 |  |  | 967,000 |  |  | 63,000 |
2020 Equity and Cash Incentive Plan |  | 4,105,000 |  |  | 999,000 |  |  | 3,310,000 |
Total |  | 7,005,000 |  |  | 1,966,000 |  |  | 3,373,000 |
Schedule of Stock Grant Activity for RSAs | A summary of stock grant activity for the years ended December 31, 2022, 2021, and 2020 for RSAs, RSUs, and PSUs, based on the target number of shares, was as follows:
RSAs |  | Shares |  | Weighted Average Grant Date Fair Value
Unvested at December 31, 2019 |  | 243,000 |  |  | $ | 23.30 |
Granted |  | 123,000 |  |  | 24.70 |
Vested |  | (108,000) |  |  | 20.66 |
Unvested at December 31, 2020 |  | 258,000 |  |  | 25.08 |
Granted |  | 140,000 |  |  | 25.68 |
Vested |  | (130,000) |  |  | 22.40 |
Forfeited |  | (33,000) |  |  | 27.39 |
Unvested at December 31, 2021 |  | 235,000 |  |  | 26.59 |
Granted |  | 64,000 |  |  | 17.91 |
Vested |  | (89,000) |  |  | 28.60 |
Unvested at December 31, 2022 |  | 210,000 |  |  | 23.09 |
Schedule of Stock Grant Activity for RSUs |
RSUs |  | Shares |  | Weighted Average Remaining Contractual Term in years |  | Aggregate Intrinsic Value
Unvested at December 31, 2019 |  | 226,000 |  |  | 0.93 |  | $ | 6,131,000 |
Granted |  | 141,000 |  |  |  |  |
Vested |  | (118,000) |  |  |  |  |
Forfeited |  | (37,000) |  |  |  |  |
Unvested at December 31, 2020 |  | 212,000 |  |  | 1.02 |  | 5,015,000 |
Granted |  | 144,000 |  |  |  |  |
Vested |  | (93,000) |  |  |  |  |
Forfeited |  | (39,000) |  |  |  |  |
Unvested at December 31, 2021 |  | 224,000 |  |  | 0.94 |  | 4,558,000 |
Granted |  | 643,000 |  |  |  |  |
Vested |  | (100,000) |  |  |  |  |
Forfeited |  | (33,000) |  |  |  |  |
Unvested at December 31, 2022 |  | 734,000 |  |  | 2.02 |  | 8,895,000 |
Vested and expected to vest |  | 734,000 |  |  | 2.02 |  | $ | 8,895,000 |
Schedule of Stock Grant Activity for PSUs |
PSUs |  | Shares |  | Weighted Average Remaining Contractual Term in years |  | Aggregate Intrinsic Value
Unvested at December 31, 2019 |  | 347,000 |  |  | 2.33 |  | $ | 9,400,000 |
Granted |  | 70,000 |  |  |  |  |
Vested |  | (55,000) |  |  |  |  |
Forfeited |  | (31,000) |  |  |  |  |
Unvested at December 31, 2020 |  | 331,000 |  |  | 1.64 |  | 7,805,000 |
Granted |  | 215,000 |  |  |  |  |
Vested |  | (60,000) |  |  |  |  |
Forfeited |  | (114,000) |  |  |  |  |
Unvested at December 31, 2021 |  | 372,000 |  |  | 0.90 |  | 7,579,000 |
Granted |  | 182,000 |  |  |  |  |
Vested |  | (117,000) |  |  |  |  |
Forfeited |  | (97,000) |  |  |  |  |
Unvested at December 31, 2022 |  | 340,000 |  |  | 0.67 |  | 4,121,000 |
Vested and expected to vest |  | 340,000 |  |  | 0.67 |  | $ | 4,121,000 |
Summary of Stock Option Activity | A summary of our stock option activity for the years ended December 31, 2022, 2021, and 2020 was as follows:
|  | Shares |  | Weighted Average Exercise Price |  | Weighted Average Remaining Contractual Term in years |  | Aggregate Intrinsic Value
Outstanding at December 31, 2019 |  | 1,129,000 |  |  | $ | 16.14 |  |  | 3.67 |  | $ | 12,763,000 |
Granted |  | 212,000 |  |  | 26.24 |  |  |  |  |
Exercised |  | (88,000) |  |  | 10.49 |  |  |  |  |
Forfeited |  | (12,000) |  |  | 27.36 |  |  |  |  |
Outstanding at December 31, 2020 |  | 1,241,000 |  |  | 18.16 |  |  | 3.38 |  | 8,215,000 |
Granted |  | 226,000 |  |  | 24.90 |  |  |  |  |
Exercised |  | (179,000) |  |  | 12.02 |  |  |  |  |
Forfeited |  | (42,000) |  |  | 26.00 |  |  |  |  |
Outstanding at December 31, 2021 |  | 1,246,000 |  |  | 20.00 |  |  | 3.20 |  | 4,039,000 |
Granted |  | 1,031,000 |  |  | 13.29 |  |  |  |  |
Exercised |  | (151,000) |  |  | 11.85 |  |  |  |  |
Forfeited |  | (3,000) |  |  | 21.55 |  |  |  |  |
Outstanding at December 31, 2022 |  | 2,123,000 |  |  | 17.31 |  |  | 4.56 |  | 1,150,000 |
Vested and expected to vest |  | 2,123,000 |  |  | $ | 17.31 |  |  | 4.56 |  | $ | 1,150,000 |
Exercisable at December 31, 2022 |  | 892,000 |  |  | $ | 20.18 |  |  | 2.11 |  | $ | 368,000 |
Summary of Other Information Concerning Stock Options | Other information concerning stock options for the years ended December 31 was as follows:
| 2022 |  | 2021 |  | 2020
Weighted-average fair value of options granted | $ | 5.31 |  |  | $ | 8.82 |  |  | $ | 8.64 |
Intrinsic value of options exercised | 1,120,000 |  |  | 2,716,000 |  |  | 1,267,000 |
Schedule of Weighted-Average Assumptions Used to Determine the Fair Value of Options | The following weighted-average assumptions were used to determine the fair value of options:
| 2022 |  | 2021 |  | 2020
| Stock Options |  | ESPP Options |  | Stock Options |  | ESPP Options |  | Stock Options |  | ESPP Options
Expected life of options | 5.00 Years |  | 0.50 Years |  | 5.00 Years |  | 0.50 Years |  | 5.00 Years |  | 0.50 Years
Expected stock price volatility | 0.40 |  |  | 0.40 |  |  | 0.40 |  |  | 0.45 |  |  | 0.35 |  |  | 0.52 |
Risk-free interest rate | 3.58 | % |  | 1.34 | % |  | 0.57 | % |  | 0.07 | % |  | 1.41 | % |  | 1.00 | %
Summary of Total Stock Compensation Expenses | The following table summarizes stock compensation expense (in thousands):
| 2022 |  | 2021 |  | 2020
RSA, RSU, and PSU expense | $ | 10,351 |  |  | $ | 9,023 |  |  | $ | 5,288 |
Stock option and ESPP option expense | 2,591 |  |  | 2,254 |  |  | 2,216 |
Total stock compensation expense | $ | 12,942 |  |  | $ | 11,277 |  |  | $ | 7,504 |

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