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Stock-Based Compensation (Tables)
 9 Months Ended
Sep. 30, 2021
Share-based Payment Arrangement [Abstract]  
Stock-based Compensation Expense and Related Income Tax Benefit Stock-based compensation expense by statement of operations caption and the related income tax benefit were as follows:
Three Months Ended September 30,Nine Months Ended September 30,
(In thousands)2021202020212020
Cost of sales$39 $36 $116 $146 
Research and development expenses321 287 952 811 
Selling, general and administrative expenses:
Employees
1,712 1,555 5,285 4,695 
Outside directors
400 382 1,163 1,202 
Total employee and director stock-based compensation expense$2,472 $2,260 $7,516 $6,854 
Income tax benefit$420 $494 $1,302 $1,500 
Stock Option Activity
Stock option activity was as follows:    
Number of Options
(in thousands)		Weighted-Average Exercise PriceWeighted-Average Remaining Contractual Term
(in years)		Aggregate Intrinsic Value
(in thousands)
Outstanding at December 31, 2020
774 $43.01 
Granted80 59.43 
Exercised(22)44.39 $253 
Forfeited/canceled/expired— — 
Outstanding at September 30, 2021 (1)
832 $44.56 3.28$7,436 
Vested and expected to vest at September 30, 2021 (1)
832 $44.56 3.28$7,436 
Exercisable at September 30, 2021 (1)
659 $43.12 2.60$6,711 
(1)The aggregate intrinsic value represents the total pre-tax value (the difference between our closing stock price on the last trading day of the third quarter of 2021 and the exercise price, multiplied by the number of in-the-money options) that would have been received by the option holders had they all exercised their options on September 30, 2021. This amount will change based on the fair market value of our stock.
Assumptions Used in Valuation and Weighted Average Fair Value of Stock Option Grants
The assumptions we utilized in the Black-Scholes option pricing model and the resulting weighted average fair value of stock option grants were the following:
 Three Months Ended September 30,Nine Months Ended September 30,
 2021202020212020
Weighted average fair value of grants$— $— $23.97 $17.70 
Risk-free interest rate— %— %0.41 %1.44 %
Expected volatility— %— %48.49 %43.95 %
Expected life in years0.000.004.624.59
Non-Vested Restricted Stock Award Activity
Non-vested restricted stock award activity was as follows:
Shares
(in thousands)		Weighted-Average Grant Date Fair Value
Non-vested at December 31, 2020
$374 $34.53 
Granted153 57.32 
Vested(195)35.88 
Forfeited(7)37.85 
Non-vested at September 30, 2021
$325 $44.38