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Share-based compensation (Tables) | 12 Months Ended
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Dec. 31, 2020
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract] |
Schedule of Share-Based Compensation by Line Item in Consolidated Statements of Income | The following tables present the detail of share-based compensation by line item in the consolidated statements of income as well as by award type, for the years ended December 31, 2020, 2019, and 2018:
|  | Year Ended December 31, |
(U.S. Dollars, in thousands) |  | 2020 |  |  | 2019 |  |  | 2018 |
Cost of sales |  | $ | 705 |  |  | $ | 715 |  |  | $ | 522 |
Sales and marketing |  |  | 3,620 |  |  |  | 2,512 |  |  |  | 1,802 |
General and administrative |  |  | 10,624 |  |  |  | 16,872 |  |  |  | 15,197 |
Research and development |  |  | 1,258 |  |  |  | 1,441 |  |  |  | 1,409 |
Total |  | $ | 16,207 |  |  | $ | 21,540 |  |  | $ | 18,930 |
|  | Year Ended December 31, |
(U.S. Dollars, in thousands) |  | 2020 |  |  | 2019 |  |  | 2018 |
Stock options |  | $ | 2,571 |  |  | $ | 4,054 |  |  | $ | 3,061 |
Time-based restricted stock awards and stock units |  |  | 8,485 |  |  |  | 11,084 |  |  |  | 7,265 |
Performance-based restricted stock awards and stock units |  |  | — |  |  |  | — |  |  |  | 1,998 |
Market-based restricted stock units |  |  | 3,509 |  |  |  | 4,733 |  |  |  | 5,256 |
Stock purchase plan |  |  | 1,642 |  |  |  | 1,669 |  |  |  | 1,350 |
Total |  | $ | 16,207 |  |  | $ | 21,540 |  |  | $ | 18,930 |
Schedule of Assumptions Used in Determining Fair Value of Stock Options | A summary of the Company’s assumptions used in determining the fair value of the stock options granted during the year is shown in the following table.
|  | Year Ended December 31, |
|  | 2020 |  |  | 2019 |  |  | 2018 |
Assumptions: |  |  |  |  |  |  |  |  |  |  |  |
Expected term (in years) |  | 5.5 |  |  | 5.0 |  |  | 4.5 |
Expected volatility |  | 30.2% – 35.1% |  |  | 29.7% – 31.0% |  |  | 28.7% – 30.1% |
Risk free interest rate |  | 0.28% – 1.65% |  |  | 1.38% – 2.31% |  |  | 2.55% – 2.79% |
Dividend yield |  |  | — |  |  |  | — |  |  | — |
Weighted average grant date fair value |  | $ | 8.74 |  |  | $ | 14.64 |  |  | $ | 16.28 |
Schedule of Stock Option Plans | Summaries of the status of the Company’s stock option plans as of December 31, 2020 and 2019 and changes during the year ended December 31, 2020 are presented below:
|  | Options |  |  | Weighted Average Exercise Price |  |  | Weighted Average Remaining Contractual Term |
Outstanding at December 31, 2019 |  |  | 1,301,314 |  |  | $ | 42.92 |  |  |  |  |
Granted |  |  | 352,535 |  |  | $ | 27.86 |  |  |  |  |
Exercised |  |  | (86,945 | ) |  | $ | 31.56 |  |  |  |  |
Forfeited or expired |  |  | (75,885 | ) |  | $ | 52.11 |  |  |  |  |
Outstanding at December 31, 2020 |  |  | 1,491,019 |  |  | $ | 39.56 |  |  |  | 5.74 |
Vested and expected to vest at December 31, 2020 |  |  | 1,491,019 |  |  | $ | 39.56 |  |  |  | 5.74 |
Exercisable at December 31, 2020 |  |  | 908,042 |  |  | $ | 41.56 |  |  |  | 3.71 |
Schedule of Changes in Time-Based, Performance-Based and Market-Based Restricted Stock Awards and Stock Units | A summary of the status of our time-based, performance-based and market-based restricted stock awards and stock units as of December 31, 2020, and 2019 and changes during the year ended December 31, 2020 are presented below:
|  | Time-based Restricted Stock Awards and Stock Units |  |  | Market-based Restricted Stock Units |
|  | Shares |  |  | Weighted Average Grant Date Fair Value |  |  | Shares |  |  | Weighted Average Grant Date Fair Value |
Outstanding at December 31, 2019 |  |  | 468,728 |  |  | $ | 51.96 |  |  |  | 257,162 |  |  | $ | 60.08 |
Granted |  |  | 250,459 |  |  | $ | 29.93 |  |  |  | 158,238 |  |  | $ | 44.00 |
Vested and settled |  |  | (178,315 | ) |  | $ | 52.31 |  |  |  | (45,178 | ) |  | $ | 49.53 |
Cancelled |  |  | (47,745 | ) |  | $ | 46.97 |  |  |  | (94,884 | ) |  | $ | 54.64 |
Outstanding at December 31, 2020 |  |  | 493,127 |  |  | $ | 41.13 |  |  |  | 275,338 |  |  | $ | 54.45 |

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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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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + 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 (f)(2) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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