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Stockholders' Equity (Tables)
 6 Months Ended
Jun. 30, 2017
Equity [Abstract]  
Summary of Restricted Stock Unit Activity
The following table summarizes RSU activity for the six months ended June 30, 2017 (number of units and aggregate intrinsic value in thousands):
 
Number
of
Units
 
Weighted
Average
Grant-Date
Fair Value
 
Aggregate
Intrinsic Value
Units outstanding, beginning of year
1,330

 
$
20.40

 
 
Granted
989

 
25.17

 
 
Released
(350
)
 
18.68

 
 
Forfeited
(46
)
 
23.56

 
 
Units outstanding, end of period
1,923

 
23.08

 
$
48,344
Summary of the Stock Option Activity
The following table summarizes stock option activity for the six months ended June 30, 2017 (number of units and aggregate intrinsic value in thousands):
 
Number
of
Options
 
Weighted
Average
Exercise
Price
 
Weighted Average Remaining Contractual Life (years)
 
Aggregate
Intrinsic Value
Options outstanding, beginning of year
1,008

 
$
5.40

 
 
 
 
Granted
—

 
—

 
 
 
 
Exercised
(168
)
 
7.38

 
 
 
 
Expired / terminated
(6
)
 
10.07

 
 
 
 
Options outstanding, end of period
834

 
4.98

 
1.93
 
$
16,813

Options exercisable, end of period
805

 
4.99

 
1.93
 
16,214

Options expected to vest, end of period
25

 
4.75

 
1.48
 
510
Stock-Based Compensation
The following table summarizes the composition of stock stock-based compensation for the three months ended June 30, 2017 and 2016 (in thousands):
 
Three Months Ended June 30,
 
Six Months Ended June 30,
 
2017
 
2016
 
2017
 
2016
Cost of products sold and services delivered
$
155

 
$
70

 
$
234

 
$
170

Sales, general and administrative expenses
2,155

 
1,459

 
4,183

 
2,849

Research and development expenses
1,666

 
777

 
3,006

 
1,507

Total stock-based compensation
$
3,976

 
$
2,306

 
$
7,423

 
$
4,526