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Stockholders' Equity (Tables)
12 Months Ended
Dec. 31, 2017
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):
 
2017
 
2016
 
2015
 
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
1,330

 
$
20.40

 
1,139

 
$
19.30

 
1,226

 
$
13.23

Granted
1,731

 
24.59

 
718

 
19.75

 
516

 
26.18

Released
(519
)
 
18.85

 
(414
)
 
15.91

 
(488
)
 
11.82

Forfeited
(194
)
 
24.61

 
(113
)
 
21.65

 
(115
)
 
16.72

Units outstanding, end of year
2,348

 
23.47

 
1,330

 
20.40

 
1,139

 
19.30

Aggregate intrinsic value at year end
$
62,222

 
 
 

 
 
 

 
 
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):
 
2017
 
2016
 
2015
 
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
1,008

 
$
5.40

 
1,103

 
$
5.37

 
1,641

 
$
5.26

Exercised
(198
)
 
6.99

 
(95
)
 
5.02

 
(525
)
 
4.95

Expired / terminated
(6
)
 
8.32

 

 

 
(13
)
 
7.27

Options outstanding, end of year
804

 
4.99

 
1,008

 
5.40

 
1,103

 
5.37

Options exercisable, end of year
775

 
5.00

 
977

 
5.42

 
1,072

 
5.39

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, 2017 (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
Exercise
Price
 
Weighted
Average
Remaining
Contractual
Life (Years)
$4.15 - $7.01
 
733

 
$
4.78

 
1.49
 
704

 
$
4.78

 
1.51
$7.13 - $7.21
 
71

 
7.14

 
0.41
 
71

 
7.15

 
0.41
$4.15 - $7.21
 
804

 
4.99

 
1.40
 
775

 
5.00

 
1.41
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):
 
2017
 
2016
 
2015
Cost of product and service sales
$
508

 
$
342

 
$
402

Sales, general and administrative expenses
9,047

 
5,707

 
4,285

Research and development expenses
6,055

 
3,320

 
2,576

Total stock-based compensation expense
$
15,610

 
$
9,369

 
$
7,263