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Stock-Based Compensation and Employee Benefits (Tables) | 12 Months Ended
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Dec. 31, 2022
Stock-Based Compensation and Employee Benefits |
Summary of Option Activities under 2016 and 2014 Plans | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
​ | ​ | Options
​ | ​ | ​ | ​ | ​ | ​ | ​ | Weighted- | ​ | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | Average | ​ | Aggregate
​ | ​ | ​ | ​ | Weighted- | ​ | Remaining | ​ | Intrinsic
​ |  | Number of | ​ | Average | ​ | Contractual Terms | ​ | Value
​ | ​ | Options | ​ | Exercise Price | ​ | (Years) | ​ | (in thousands)
Outstanding at December 31, 2021 | ​ | 19,959,815 | ​ | $ | 15.89 | ​ | ​ | ​ | ​ | ​
Granted - at fair value |  | 4,685,750 | ​ | $ | 12.09 | ​ |  | ​ | ​ | ​
Exercised |  | (141,897) | ​ | $ | 4.88 | ​ |  | ​ | ​ | ​
Forfeited/Canceled |  | (2,812,347) | ​ | $ | 16.97 | ​ |  | ​ | ​ | ​
Outstanding at December 31, 2022 | ​ | 21,691,321 | ​ | $ | 15.00 | ​ | 6.0 | ​ | $ | 10,714
Exercisable at December 31, 2022 |  | 15,027,783 | ​ | $ | 15.47 | ​ | 4.8 | ​ | $ | 9,647
​
Schedule of options outstanding and exercisable | Information on options outstanding and exercisable as of December 31, 2022 is summarized as follows:
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | ​ | ​ | ​ |  | Options Outstanding | ​ | Options Exercisable
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | Weighted- | ​ | ​ | ​ |  | ​ | ​ | ​ | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | Average | ​ | Weighted- | ​ | ​ | ​ | Weighted-
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | Remaining | ​ | Average | ​ | ​ | ​ | Average
​ | ​ | ​ | ​ | ​ | ​ | Number | ​ | Contractual Terms | ​ | Exercise | ​ | Number | ​ | Exercise
Range of Exercise Prices | ​ | Outstanding | ​ | (Years) | ​ | Price | ​ | Exercisable | ​ | Price
$ | 1.42 | - | $ | 10.05 |  | 4,801,972 | ​ | 5.2 | ​ | $ | 6.64 | ​ | 3,223,663 | ​ | $ | 5.99
$ | 10.78 | - | $ | 14.13 | ​ | 4,598,418 | ​ | 6.4 | ​ | $ | 12.72 | ​ | 3,381,021 | ​ | $ | 12.67
$ | 14.30 | - | $ | 17.17 | ​ | 4,857,557 | ​ | 7.2 | ​ | $ | 15.91 | ​ | 2,530,714 | ​ | $ | 16.08
$ | 17.30 | - | $ | 19.07 | ​ | 4,406,311 | ​ | 6.9 | ​ | $ | 17.93 | ​ | 3,000,465 | ​ | $ | 17.94
$ | 19.19 | - | $ | 36.85 | ​ | 3,027,063 | ​ | 3.4 | ​ | $ | 25.98 | ​ | 2,891,920 | ​ | $ | 26.22
​ | ​ | ​ | ​ | ​ |  | 21,691,321 | ​ | 6.0 | ​ | $ | 15.00 | ​ | 15,027,783 | ​ | $ | 15.47
​
Schedule of additional information on options | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Year Ended December 31,
(in thousands, except weighted-average grant date fair values) | ​ | 2022 | ​ | 2021 | ​ | 2020
Total intrinsic value of options exercised |  | $ | 914 | ​ | $ | 9,726 | ​ | $ | 14,572
Total grant date fair value of options vested |  | $ | 34,916 | ​ | $ | 40,365 | ​ | $ | 34,090
Weighted-average grant date fair value of options granted |  | $ | 7.04 | ​ | $ | 9.80 | ​ | $ | 10.94
​
Summary of RSU Activity, under 2014 Plan | ​
​ | ​ | ​ | ​ | ​ | ​
​ | ​ | RSUs Outstanding
​ | ​ | ​ | ​ | Weighted-Average
​ |  | Number of |  | Grant Date Fair
​ | ​ | RSUs | ​ | Value
Balances at December 31, 2021 |  | 1,843,732 | ​ | $ | 17.00
RSUs granted |  | 1,686,875 | ​ | $ | 13.34
RSUs vested |  | (806,854) | ​ | $ | 16.85
RSUs canceled |  | (390,446) | ​ | $ | 15.43
Balances at December 31, 2022 |  | 2,333,307 | ​ | $ | 14.66
​
Schedule of Stock-Based Compensation Expense | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | Year Ended December 31,
(in thousands) | 2022 |  | 2021 |  | 2020
Cost of goods sold (1) | $ | 736 | ​ | $ | 1,099 | ​ | $ | 583
Research and development |  | 18,999 | ​ |  | 18,688 | ​ |  | 13,837
Selling, general and administrative |  | 31,002 | ​ |  | 31,577 | ​ |  | 23,740
Stock-based compensation expense | $ | 50,737 | ​ | $ | 51,364 | ​ | $ | 38,160
​ |  |  | ​ |  |  | ​ |  |
Stock-based compensation expense capitalized into inventory | $ | 1,187 | ​ | $ | 1,025 | ​ | $ | 1,460
​
(1) | Stock-based compensation capitalized into inventory is recognized as cost of goods sold when the related product is sold.
Schedule of Weighted Average Assumptions for Black-Scholes Option-Pricing Model Used in Determining Fair Value of Awards | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Year Ended December 31, |
​ |  | 2022 |  | 2021 |  | 2020 |
Expected term (years) |  |  |  |  |  |  | ​
Stock options |  | 6.1 |  | 6.1 |  | 6.1 | ​
ESPP |  | 0.5 |  | 0.5 |  | 0.5 | ​
Expected volatility |  | ​ |  | ​ |  | ​ | ​
Stock options |  | 62 | % | 65 | % | 68 | %
ESPP |  | 70 | % | 42 | % | 58 | %
Risk-free interest rate |  | ​ |  | ​ |  | ​ | ​
Stock options |  | 2.37 | % | 0.89 | % | 1.09 | %
ESPP |  | 3.77 | % | 0.06 | % | 0.13 | %
Expected dividend yield |  |  |  |  |  |  | ​
Stock options |  | — | % | — | % | — | %
ESPP |  | — | % | — | % | — | %
​

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- Definition Tabular disclosure of the number and weighted-average grant date fair value for restricted stock units that were outstanding at the beginning and end of the year, and the number of restricted stock units that were granted, vested, or forfeited during the year. + 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 (c)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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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 https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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