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Stockholders' Equity (Tables)
 12 Months Ended
Dec. 31, 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 acquisition of Vievu that was completed during 2018, the revenue goals were 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 years ended December 31 (number of units and aggregate intrinsic value in thousands):
 
2019
 
2018
 
2017
 
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
1,655

 
$
28.34

 
2,348

 
$
23.47

 
1,330

 
$
20.40

Granted
6,759

 
37.21

 
381

 
46.06

 
1,731

 
24.59

Released
(650
)
 
25.75

 
(772
)
 
23.85

 
(519
)
 
18.85

Forfeited
(482
)
 
34.97

 
(302
)
 
24.73

 
(194
)
 
24.61

Units outstanding, end of year
7,282

 
36.36

 
1,655

 
28.34

 
2,348

 
23.47

Aggregate intrinsic value at year end
$
533,623

 
 
 

 
 
 

 
 
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):
 
2019
 
2018
 
2017
 
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
6,458

 
$
28.24

 
804

 
$
4.99

 
1,008

 
$
5.40

Granted
—

 
—

 
6,366

 
28.58

 
—

 
—

Exercised
(27
)
 
4.27

 
(664
)
 
5.09

 
(198
)
 
6.99

Expired / terminated
—

 
—

 
(48
)
 
4.55

 
(6
)
 
8.32

Options outstanding, end of year
6,431

 
28.34

 
6,458

 
28.24

 
804

 
4.99

Options exercisable, end of year
65

 
4.52

 
92

 
4.45

 
775

 
5.00
Summary of Stock Options Outstanding and Exercisable
The following table summarizes information about stock options that were fully vested or expected to vest as of December 31, 2019 (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)
$4.34 - $4.97
 
65

 
$
4.52

 
0.94
 
65

 
$
4.52

 
0.94
Reported Share-Based Compensation
We account 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):
 
2019
 
2018
 
2017
Cost of product and service sales
$
1,565

 
$
511

 
$
508

Sales, general and administrative expenses
59,342

 
12,710

 
9,047

Research and development expenses
17,588

 
8,658

 
6,055

Total stock-based compensation expense
$
78,495

 
$
21,879

 
$
15,610

Income tax benefit
$
11,457

 
$
4,049

 
$
5,791