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Stockholders' Equity (Tables)
 3 Months Ended
Mar. 31, 2018
Equity [Abstract]  
Summary of Restricted Stock Unit Activity
The following table summarizes RSU activity for the three months ended March 31, 2018 (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
2,348

 
$
23.47

 
 
Granted
122

 
30.14

 
 
Released
(329
)
 
24.14

 
 
Forfeited
(114
)
 
21.79

 
 
Units outstanding, end of period
2,027

 
23.93

 
$
79,681
Summary of the Stock Option Activity
The following table summarizes stock option activity for the three months ended March 31, 2018 (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
804

 
$
4.99

 
 
 
 
Granted
—

 
—

 
 
 
 
Exercised
(78
)
 
4.54

 
 
 
 
Expired / terminated
—

 
—

 
 
 
 
Options outstanding, end of period
726

 
5.04

 
0.99
 
$
24,879

Options exercisable, end of period
722

 
5.04

 
1.00
 
24,729
Stock-Based Compensation
The following table summarizes the composition of stock-based compensation for the three months ended March 31, 2018 and 2017 (in thousands):
 
Three Months Ended March 31,
 
2018
 
2017
Cost of products sold and services delivered
$
141

 
$
79

Sales, general and administrative expenses
2,304

 
2,028

Research and development expenses
1,648

 
1,340

Total stock-based compensation
$
4,093

 
$
3,447