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Equity Plans and Stock-Based Compensation (Tables)
12 Months Ended
Dec. 31, 2023
Share-Based Payment Arrangement, Noncash Expense [Abstract]  
Summary of Option Activity Under Stock-Based Compensation Plans

The following table summarizes the activity of stock options for the year ended December 31, 2023:

 

 

 

Shares Underlying
Outstanding Options
(in thousands)

 

 

Weighted-Average Exercise
Price Per Share

 

 

Weighted-Average
Remaining
Contractual Term
(years)

 

 

Aggregate
Intrinsic Value
(in thousands)

 

Balance at December 31, 2022

 

 

9,339

 

 

$

10.70

 

 

4.61

 

 

$

16,291

 

Options granted

 

 

1,982

 

 

 

11.17

 

 

 

 

 

 

 

Options exercised

 

 

(850

)

 

 

7.48

 

 

 

 

 

 

 

Options cancelled:

 

 

 

 

 

 

 

 

 

 

 

 

Options forfeited (unvested)

 

 

(90

)

 

 

10.93

 

 

 

 

 

 

 

Options expired (vested)

 

 

(261

)

 

 

21.39

 

 

 

 

 

 

 

Balance at December 31, 2023

 

 

10,120

 

 

$

10.78

 

 

 

4.18

 

 

$

37,388

 

Vested and expected to vest at December 31, 2023

 

 

9,976

 

 

$

10.77

 

 

 

4.15

 

 

$

37,024

 

Exercisable at December 31, 2023

 

 

7,014

 

 

$

10.40

 

 

 

3.50

 

 

$

29,613

 

Summary of Non-vested Restricted Stock Units Activity

The following table summarizes the activity of RSUs for the year ended December 31, 2023:

 

 

Number of Shares
(In thousands)

 

 

Weighted-Average
Grant-Date Fair Value

 

Non-vested as of December 31, 2022

 

3,479

 

 

$

11.00

 

Granted

 

2,748

 

 

 

11.48

 

Vested (1)

 

(1,515

)

 

 

10.13

 

Forfeited

 

(267

)

 

 

11.45

 

Non-vested as of December 31, 2023

 

4,445

 

 

$

11.57

 

(1) Inclusive of approximately 600,145 RSUs for the year ended December 31, 2023, which were not converted into shares due to net share settlement in order to cover the required amount of employee withholding taxes. The value of the withheld shares was classified as a reduction to additional paid-in capital.

Summary of Performance Based Restricted Stock Unit The summary of PSU activities for the year ended December 31, 2023 is as follows:

 

 

 

Number of Shares
(in thousands)

 

 

Weighted-Average
Grant-Date Fair
Value Per Share

 

Non-vested as of December 31, 2022

 

 

193

 

 

$

11.62

 

Granted

 

 

364

 

 

 

18.25

 

Non-vested as of December 31, 2023

 

 

557

 

 

$

15.95

 

Summary of Fair Value-Based Measurements and Weighted-Average Assumptions The weighted-average assumptions used in the calculations of these fair value measurements are as follows:

 

 

 

Stock Options

 

 

Market-Based Performance Stock Units

 

 

Employee Stock Purchase Plan

 

 

Year Ended December 31,

 

 

Year Ended December 31,

 

 

Year Ended December 31,

 

 

2023

 

 

2022

 

 

2021

 

 

2023

 

 

2022

 

 

2021

 

 

2023

 

 

2022

 

 

2021

 

Weighted-average fair value

 

$

7.32

 

 

$

7.95

 

 

$

7.17

 

 

$

18.25

 

 

$

11.62

 

 

$

8.40

 

 

$

5.35

 

 

$

7.37

 

 

$

6.48

 

Risk-free interest rate

 

 

4.0

%

 

 

2.0

%

 

 

0.7

%

 

 

4.3

%

 

 

1.7

%

 

From 0.03% to 1.92%

 

 

 

4.9

%

 

 

2.1

%

 

 

0.1

%

Expected life (in years)

 

 

4.5

 

 

 

4.5

 

 

 

4.5

 

 

 

2.9

 

 

 

2.9

 

 

 

2.9

 

 

 

1.3

 

 

 

1.3

 

 

 

1.2

 

Expected volatility

 

 

0.8

 

 

 

0.8

 

 

 

0.9

 

 

 

0.9

 

 

 

0.9

 

 

 

0.9

 

 

 

0.7

 

 

 

1.0

 

 

 

1.0

 

Summary of Stock-Based Compensation Expense

The following table summarizes stock-based compensation expense recorded in each component of operating expenses in our consolidated statements of operations, and amounts capitalized to our inventories (in thousands):

 

 

 

Year Ended December 31,

 

 

2023

 

 

2022

 

 

2021

 

Employees and directors stock-based compensation expense

 

$

42,592

 

 

$

32,915

 

 

$

21,285

 

 

 

 

 

 

 

 

 

 

 

 

Year Ended December 31,

 

 

2023

 

 

2022

 

 

2021

 

Research and development

 

$

9,285

 

 

$

5,954

 

 

$

3,818

 

Selling, general and administrative

 

 

29,069

 

 

 

23,118

 

 

 

14,894

 

Cost of sales - product

 

 

1,839

 

 

 

1,123

 

 

 

553

 

Inventories

 

 

2,399

 

 

 

2,720

 

 

 

2,020

 

Total

 

$

42,592

 

 

$

32,915

 

 

$

21,285