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Stock Plans (Tables) | 12 Months Ended
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Dec. 31, 2020
Stock Plans |
Schedule of share-based compensation expense | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | For the year ended December 31,
​ |  | 2020 |  | 2019 |  | 2018
​ | ​ | (in thousands)
Cost of sales |  | $ | 1,870 |  | $ | 1,903 |  | $ | 1,885
Research and development | ​ | ​ | 2,900 | ​ | ​ | 3,340 | ​ | ​ | 3,611
Selling, general, and administrative | ​ | ​ | 7,933 | ​ | ​ | 9,630 | ​ | ​ | 9,417
Restructuring | ​ | ​ | — | ​ | ​ | 397 | ​ | ​ | 1,161
Total | ​ | $ | 12,703 | ​ | $ | 15,270 | ​ | $ | 16,074
Summary of unrecognized share-based compensation costs | ​
​ | ​ | ​ | ​ | ​ | ​
​ |  | Unrecognized |  | Weighted
​ | ​ | Share-Based | ​ | Average Period
​ | ​ | Compensation | ​ | Expected to be
​ | ​ | Costs | ​ | Recognized
​ | ​ | (in thousands) | (in years)
Restricted stock units | ​ | $ | 1,325 | ​ | 2.0
Restricted stock awards |  | ​ | 10,709 | ​ | 2.0
Performance share units |  | ​ | 3,269 | ​ | 1.6
Total unrecognized share-based compensation cost |  | $ | 15,303 | ​ | 1.9
Summary of stock option activity | ​
​ | ​ | ​ | ​ | ​ | ​
​ | ​ | ​ | ​ | Weighted
​ | ​ | Number of | ​ | Average
​ |  | Shares |  | Exercise Price
​ | ​ | (in thousands) | ​ | ​ | ​
Balance - December 31, 2017 | ​ | 1,394 | ​ | $ | 34.97
Expired or forfeited | ​ | (172) | ​ |  | 36.21
Balance - December 31, 2018 | ​ | 1,222 | ​ | ​ | 34.80
Expired or forfeited | ​ | (103) | ​ |  | 33.97
Balance - December 31, 2019 | ​ | 1,119 | ​ | ​ | 34.88
Expired or forfeited | ​ | (389) | ​ | ​ | 34.15
Balance - December 31, 2020 | ​ | 730 | ​ | ​ | 35.26
Summary of information about stock option information | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Options Outstanding and Exercisable
​ |  | ​ |  | ​ | ​ |  | Weighted |  | ​
​ | ​ | ​ | ​ | Aggregate | ​ | Average | ​ | Weighted
​ | ​ | ​ | ​ | Intrinsic | ​ | Remaining | ​ | Average
Range of Exercise Prices | ​ | Shares | ​ | Value | ​ | Contractual Life | ​ | Exercise Price
​ | ​ | (in thousands) | ​ | (in thousands) | ​ | (in years) | ​ | ​
$20.00 - $30.00 |  | 16 | ​ | $ | — | ​ | 2.1 | ​ | $ | 28.68
$30.01 - $40.00 | ​ | 600 | ​ | ​ | — | ​ | 1.5 | ​ | ​ | 32.34
$40.01 - $50.00 |  | 5 |  |  | — | ​ | 0.3 | ​ |  | 47.95
$50.01 - $60.00 |  | 109 | ​ |  | — | ​ | 0.4 | ​ |  | 51.69
​ |  | 730 | ​ | $ | — | ​ | 1.4 | ​ | ​ | 35.26
Summary of non-vested restricted and performance shares activity | ​
​ | ​ | ​ | ​ | ​ | ​
​ |  | ​ |  | Weighted
​ | ​ | ​ | ​ | Average
​ | ​ | Number of | ​ | Grant Date
​ | ​ | Shares | ​ | Fair Value
​ | ​ | (in thousands) | ​ | ​ | ​
Balance - December 31, 2017 |  | 1,880 | ​ | $ | 25.41
Granted |  | 1,257 | ​ | ​ | 17.37
Performance award adjustments | ​ | (5) | ​ | ​ | 32.67
Vested |  | (523) | ​ | ​ | 26.39
Forfeited | ​ | (391) | ​ | ​ | 24.66
Balance - December 31, 2018 | ​ | 2,218 | ​ | ​ | 20.74
Granted | ​ | 1,107 | ​ | ​ | 11.53
Performance award adjustments | ​ | (25) | ​ | ​ | 28.91
Vested | ​ | (768) | ​ | ​ | 21.77
Forfeited | ​ | (275) | ​ | ​ | 18.48
Balance - December 31, 2019 | ​ | 2,257 | ​ | ​ | 16.20
Granted | ​ | 1,054 | ​ | ​ | 9.53
Performance award adjustments | ​ | (51) | ​ | ​ | 30.94
Vested | ​ | (798) | ​ | ​ | 16.01
Forfeited | ​ | (422) | ​ | ​ | 14.87
Balance - December 31, 2020 | ​ | 2,040 | ​ | ​ | 12.73
Summary of valuation assumptions for performance awards | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Year ended December 31, | ​
​ | ​ | 2020 |  | 2019 |  | 2018 | ​
Weighted average fair value | ​ | $ | 10.59 | ​ | $ | 16.45 | ​ | $ | 15.58 | ​
Dividend yield | ​ | ​ | 0 | % | ​ | 0 | % | ​ | 0 | %
Expected volatility factor(1) | ​ | ​ | 60.27 | % | ​ | 53 | % | ​ | 49 | %
Risk-free interest rate(2) | ​ | ​ | 0.54 | % | ​ | 2.37 | % | ​ | 2.88 | %
Expected life (in years)(3) | ​ | ​ | 3.0 |  | ​ | 2.8 |  | ​ | 3.0 | ​
(1) | Expected volatility is measured using historical daily price changes of the Company’s stock over the respective expected term.
(2) | The risk-free rate for periods within the contractual term is based on the U.S. Treasury yield curve in effect at the time of grant.
(3) | The expected life is the number of years the Company estimates that the awards will be outstanding prior to exercise.
Summary of valuation assumptions for employee stock purchase plan | ​
​ ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Year ended December 31, |
​ | ​ | 2020 |  | 2019 |  | 2018 |
Weighted average fair value | ​ | $ | 4.81 | ​ | $ | 2.96 | ​ | $ | 4.94 | ​
Dividend yield | ​ | ​ | 0 | % | ​ | 0 | % | ​ | 0 | %
Expected volatility factor(1) | ​ | ​ | 70 | % | ​ | 60 | % | ​ | 62 | %
Risk-free interest rate(2) | ​ | ​ | 0.95 | % | ​ | 2.41 | % | ​ | 1.81 | %
Expected life (in years)(3) | ​ | ​ | 0.5 |  | ​ | 0.5 |  | ​ | 0.5 | ​
(1) | Expected volatility is measured using historical daily price changes of the Company’s stock over the respective expected term.
(2) | The risk-free rate for periods within the contractual term is based on the U.S. Treasury yield curve in effect at the time of grant.
(3) | The expected life is the number of years the Company estimates that the purchase rights will be outstanding prior to exercise.

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- Definition Tabular disclosure of option exercise prices, by grouped ranges, including the upper and lower limits of the price range, the number of shares under option, weighted average exercise price and remaining contractual option terms. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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