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Stockholders' Equity (Tables)
 12 Months Ended
Dec. 31, 2016
Equity [Abstract]  
Summary of Restricted Stock Unit Activity
The following table summarizes RSU activity for the years ended December 31 (number of units and aggregate intrinsic value in thousands):
 
2016
 
2015
 
2014
 
Number
of
Units
 
Weighted
Average
Grant-Date
Fair Value
 
Number
of
Units
 
Weighted
Average
Grant-Date
Fair Value
 
Number
of
Units
 
Weighted
Average
Grant-Date
Fair Value
Units outstanding, beginning of year
1,139

 
$
19.30

 
1,226

 
$
13.23

 
1,279

 
$
9.67

Granted
718

 
19.75

 
516

 
26.18

 
554

 
16.98

Released
(414
)
 
15.91

 
(488
)
 
11.82

 
(433
)
 
7.61

Forfeited
(113
)
 
21.65

 
(115
)
 
16.72

 
(174
)
 
13.08

Units outstanding, end of year
1,330

 
20.40

 
1,139

 
19.30

 
1,226

 
13.23

Aggregate intrinsic value at year end (in thousands)
$
32,239

 
 
 

 
 
 

 
 
Summary of the Company's Stock Options Activity
The following table summarizes stock option activity for the years ended December 31 (number of options in thousands):
 
2016
 
2015
 
2014
 
Number
of
Options
 
Weighted
Average
Exercise
Price
 
Number
of
Options
 
Weighted
Average
Exercise
Price
 
Number
of
Options
 
Weighted
Average
Exercise
Price
Options outstanding, beginning of year
1,103

 
$
5.37

 
1,641

 
$
5.26

 
3,366

 
$
6.15

Granted
—

 
—

 
—

 
—

 
—

 
—

Exercised
(95
)
 
5.02

 
(525
)
 
4.95

 
(1,644
)
 
6.69

Expired / terminated
—

 
—

 
(13
)
 
7.27

 
(81
)
 
16.59

Options outstanding, end of year
1,008

 
5.40

 
1,103

 
5.37

 
1,641

 
5.26

Options exercisable, end of year
977

 
5.42

 
1,072

 
5.39

 
1,606

 
5.27

Options expected to vest, end of year
25

 
4.75

 

 

 

 
Summary of Stock Options Outstanding and Exercisable
The following table summarizes information about stock options outstanding and exercisable as of December 31, 2016 (number of options in thousands):
 
Options Outstanding
 
Options Exercisable
Range of
Exercise Price
Number of
Options
Outstanding
 
Weighted
Average
Exercise
Price
 
Weighted
Average
Remaining
Contractual
Life (Years)
 
Number of
Options
Exercisable
 
Weighted
Average
Price
 
Weighted
Average
Remaining
Contractual
Life (Years)
$4.00 - $5.00
722

 
$
4.65

 
2.66
 
691

 
$
4.64

 
2.69
$5.01 - $7.00
112

 
5.57

 
1.70
 
112

 
5.57

 
1.70
$7.01 - $10.00
106

 
7.25

 
1.19
 
106

 
7.25

 
1.19
$10.01 - $16.23
68

 
10.30

 
0.40
 
68

 
10.30

 
0.40
$4.00 - $16.23
1,008

 
5.40

 
2.25
 
977

 
5.42

 
2.25
Reported Share-Based Compensation
The Company accounts for stock-based compensation using the fair-value method. Reported stock-based compensation was classified as follows for the years ended December 31 (in thousands):
 
2016
 
2015
 
2014
Cost of products sold and services delivered
$
342

 
$
402

 
$
204

Sales, general and administrative expenses
5,707

 
4,285

 
3,555

Research and development expenses
3,320

 
2,576

 
1,820

Total stock-based compensation
$
9,369

 
$
7,263

 
$
5,579