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Stockholders' Equity (Tables)
 6 Months Ended
Jun. 30, 2019
Equity [Abstract]  
Equity Compensation Goals
Eight Separate Revenue Goals (1)
(in thousands)
 
Eight Separate Adjusted EBITDA (CEO Performance Award) Goals
(in thousands)
Goal #1, $710,058
 
Goal #9, $125,000
Goal #2, $860,058
 
Goal #10, $155,000
Goal #3, $1,010,058
 
Goal #11, $175,000
Goal #4, $1,210,058
 
Goal #12, $190,000
Goal #5, $1,410,058
 
Goal #13, $200,000
Goal #6, $1,610,058
 
Goal #14, $210,000
Goal #7, $1,810,058
 
Goal #15, $220,000
Goal #8, $2,010,058
 
Goal #16, $230,000
(1) In connection with the business acquisition that was completed during the three months ended June 30, 2018, the revenue goals have been adjusted for the acquiree's Target Revenue, as defined in the CEO Performance Award agreement.
Summary of Restricted Stock Unit Activity
The following table summarizes RSU activity for the six months ended June 30, 2019 (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
1,655

 
$
28.34

 
 
Granted
5,732

 
34.65

 
 
Released
(375
)
 
23.15

 
 
Forfeited
(104
)
 
37.25

 
 
Units outstanding, end of period
6,908

 
33.73

 
$
443,531
Summary of the Stock Option Activity
The following table summarizes stock option activity for the six months ended June 30, 2019 (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
6,458

 
$
28.24

 
 
 
 
Granted
—

 
—

 
 
 
 
Exercised
(25
)
 
4.23

 
 
 
 
Expired / terminated
—

 
—

 
 
 
 
Options outstanding, end of period
6,433

 
28.33

 
8.58
 
$
230,820

Options exercisable, end of period
67

 
4.53

 
1.44
 
4,005
Stock-Based Compensation The following table summarizes the composition of stock-based compensation expense for the three and six months ended June 30, 2019 and 2018 (in thousands):
 
Three Months Ended June 30,
 
Six Months Ended June 30,
 
2019
 
2018
 
2019
 
2018
Cost of products sold and services delivered
$
237

 
$
125

 
$
463

 
$
266

Sales, general and administrative expenses
4,941

 
2,731

 
9,622

 
5,035

Research and development expenses
3,449

 
2,098

 
6,447

 
3,746

Total stock-based compensation expense
$
8,627

 
$
4,954

 
$
16,532

 
$
9,047