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Equity Incentive Plans (Tables)
6 Months Ended
Jun. 30, 2020
Share-based Payment Arrangement [Abstract]  
Summary of restricted and performance stock units
A summary of the Company’s RSUs and PSUs as of June 30, 2020 and changes during the six months then ended is presented below: 
 Weighted-Weighted-
 NumberAverageNumberAverage
 of RSUsFair Value RSUsof PSUsFair Value PSUs
Outstanding as of December 31, 2019947,243  $23.49  207,077  $23.47  
Granted518,831  25.91  252,031  25.45  
Vested (1)
(94,029) 25.19  (789) 25.45  
Forfeited(39,979) 24.09  —  —  
Outstanding as of June 30, 20201,332,066  $24.29  458,319  $24.55  

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(1) Included 74,442 shares of common stock related to RSUs and no shares of common stock related to PSUs that were not delivered as of June 30, 2020.
Summary of shares of common stock issued
A summary of shares of common stock issued related to the 2015 Plan, including the impact of any DERs issued in common stock, is presented below:
Six months endedSix months ended
 June 30, 2020June 30, 2019
RSUsPSUsRSUsPSUs
Shares of common stock issued (1)
52,512  789  401,986  900,226  
Shares of common stock withheld by the Company as payment by employees in lieu of cash to satisfy tax withholding obligations
(16,973) (269) (123,013) (325,246) 
Net shares of common stock issued35,539  520  278,973  574,980  
Cumulative undelivered shares of common stock262,568  —  177,249  —  
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(1) Shares of common stock issued in 2019 related to PSUs represents PSUs that vested in 2018 but were delivered in common stock during the six months ended June 30, 2019.
Compensation expense recorded in the consolidated statement of operations
Compensation expense recorded related to RSUs and PSUs in the consolidated statement of operations was as follows:
 Three months endedSix months ended
June 30,June 30,
(in thousands)2020201920202019
RSUs$3,787  $3,170  $6,265  $4,740  
PSUs265  431  (190) 646  
Schedule of compensation expense related to equity incentive plans
The allocation of share-based compensation expense in the unaudited condensed consolidated statements of operations was as follows:
 Three months endedSix months ended
June 30,June 30,
(in thousands)2020201920202019
Cost of goods sold$403  $194  $628  $361  
Selling, general and administrative3,575  3,174  5,289  4,641  
Research and development238  233  486  384  
Total compensation expense before income tax4,216  3,601  6,403  5,386  
Income tax benefit849  746  1,312  1,136  
Total compensation expense, net of income tax$3,367  $2,855  $5,091  $4,250