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Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2019
Share-based Payment Arrangement [Abstract]  
Schedule of stock-based compensation expense recognized
Stock-based compensation expense recognized in the consolidated statements of operations is summarized below:
 
Year Ended
December 31,
(in thousands)
2019
 
2018
 
2017
Cost of goods sold
$
2,091

 
$
1,140

 
$
1,692

Sales and marketing
1,953

 
1,244

 
640

General and administrative
6,990

 
4,990

 
2,964

Research and development
1,458

 
1,344

 
632

Total stock-based compensation expense
$
12,492

 
$
8,718

 
$
5,928
Schedule of option activity
A summary of option activity for 2019 is presented below:
 
 
Total
Stock
Options
 
Weighted-
Average
Exercise
Price
 
Weighted-
Average
Remaining
Contractual
Term
(Years)
 
Aggregate
Intrinsic
Value
Balance at January 1, 2019
 
357,075

 
$
17.50

 
 
 
 
Options granted
 
—

 
$
—

 
 
 
 
Options exercised
 
(67,558
)
 
$
17.37

 
 
 
 
Options cancelled and expired
 
(17,293
)
 
$
18.66

 
 
 
 
Outstanding at December 31, 2019
 
272,224

 
$
17.44

 
3.7
 
1,096,000

Exercisable at December 31, 2019
 
272,224

 
$
17.44

 
3.7
 
1,096,000
Summary of restricted stock awards activity
A summary of performance restricted stock award activity for 2019 is presented below:
 
Shares
 
Weighted-
Average Grant
Date Fair Value Per Share
Nonvested balance at January 1, 2019
241,880

 
$
16.71

Granted
—

 
$
—

Vested
—

 
$
—

Forfeited
(15,870
)
 
$
18.10

Nonvested balance at December 31, 2019
226,010

 
$
16.62

A summary of TSR Award activity for 2019 is presented below:
 
Shares
 
Weighted-
Average Grant
Date Fair Value Per Share
Nonvested balance at January 1, 2019
179,913

 
$
22.76

Granted
152,869

 
$
39.92

Vested
—

 
$
—

Forfeited
(26,552
)
 
$
31.64

Nonvested balance at December 31, 2019
306,230

 
$
30.56

A summary of restricted stock awards and restricted stock units activity for 2019 is presented below:
 
Shares
 
Weighted-
Average Grant
Date Fair Value Per Share
Nonvested balance at January 1, 2019
1,508,539

 
$
9.51

Granted
409,821

 
$
23.33

Vested
(795,503
)
 
$
8.52

Forfeited
(91,085
)
 
$
15.84

Nonvested balance at December 31, 2019
1,031,772

 
$
15.20
Schedule of valuation model
The fair value of these awards are based on a Monte Carlo Simulation valuation model with the following assumptions:
            
 
 
Year Ended December 31,
 
 
2019
 
2018
Expected volatility
 
71.7
%
 
84.3
%
Risk-free interest rate
 
2.4
%
 
2.4
%
Expected life (in years)
 
2.9

 
2.8

Expected dividend yield
 
—

 
—