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Stock-Based Compensation (Tables) | 9 Months Ended
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Sep. 30, 2022
Stock-Based Compensation |
Schedule of fair value assumptions of stock options | ​
​ | ​ | ​ | ​ | ​
​ | ​ | September 30,
​ |  | 2022 |  | 2021
Expected life (years) | ​ | 3.8 - 5.2 | ​ | 3.5 - 6.1
Risk-free interest rate |  | 2.1% - 3.7% | ​ | 0.5% - 0.9%
Volatility | ​ | 67.5% - 78.6% | ​ | 64.4% - 80.8%
Dividend yield |  | 0% | ​ | 0%
Schedule of share-based payment awards | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Three Months Ended September 30, | ​ | Nine Months Ended September 30,
​ |  | 2022 |  | 2021 |  | 2022 |  | 2021
Cost of revenues | ​ | $ | 690 | ​ | $ | 463 | ​ | $ | 1,868 | ​ | $ | 1,154
Selling, general and administrative | ​ |  | 4,194 | ​ | ​ | 3,322 | ​ | ​ | 11,541 | ​ | ​ | 9,050
Engineering and development | ​ |  | 482 | ​ | ​ | 363 | ​ | ​ | 1,340 | ​ | ​ | 959
​ | ​ | $ | 5,366 | ​ | $ | 4,148 | ​ | $ | 14,749 | ​ | $ | 11,163
Schedule of stock option activity | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | Weighted- | ​ | ​ | ​
​ | ​ | ​ | ​ | Weighted- | ​ | Average | ​ | ​ | ​
​ | ​ | ​ | ​ | Average | ​ | Remaining | ​ | Aggregate
​ | ​ | Number of | ​ | Exercise | ​ | Contractual | ​ | Intrinsic
​ |  | Shares |  | Price/Share |  | Term (Years) |  | Value (1)
Outstanding — December 31, 2021 |  | 7,027,941 | ​ | $ | 13.97 |  |  |  | ​ |
Granted (weighted-average fair value of $17.34 per share) | ​ | 573,502 | ​ | ​ | 30.46 | ​ |  | ​ | ​ | ​
Exercised |  | (171,634) | ​ | ​ | 9.30 |  |  |  | ​ | ​
Forfeited |  | (47,646) | ​ | ​ | 45.90 |  |  |  | ​ | ​
Outstanding — September 30, 2022 |  | 7,382,163 | ​ | $ | 15.15 | ​ | 5.2 | ​ | $ | 91,272
Vested (exercisable) — September 30, 2022 |  | 5,910,748 | ​ | $ | 11.06 | ​ | 4.8 | ​ | $ | 86,953
Expected to vest after September 30, 2022 (unexercisable) |  | 1,471,415 | ​ | $ | 31.58 | ​ | 6.8 | ​ | $ | 4,319
(1) | Aggregate intrinsic value represents the difference between the exercise price of the option and the closing market price of our common stock on September 30, 2022, which was $24.36 per share.
Schedule of restricted stock unit activity | ​
​ | ​ | ​ | ​ | ​ | ​
​ | ​ | ​ | ​ | Weighted Average
​ | ​ | Number of Restricted | ​ | Fair Value per
​ |  | Stock Units |  | Share
Outstanding – December 31, 2021 | ​ | 373,849 | ​ | $ | 55.53
Granted |  | 504,537 | ​ | ​ | 30.81
Share issuance | ​ | (97,062) | ​ | ​ | 55.18
Forfeited |  | (47,849) | ​ | ​ | 46.70
Outstanding – September 30, 2022 |  | 733,475 | ​ | $ | 39.15

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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 https://asc.fasb.org/extlink&oid=128089324&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 https://asc.fasb.org/extlink&oid=128089324&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 https://asc.fasb.org/extlink&oid=128089324&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 https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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