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Equity Incentive Plans (Tables)
9 Months Ended
Sep. 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 September 30, 2020 and changes during the nine 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 
Granted519,208 25.92 252,031 25.45 
Vested (1)
(94,406)25.22 (789)25.45 
Forfeited(58,816)24.06 (743)25.45 
Outstanding as of September 30, 20201,313,229 $24.30 457,576 $24.55 

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(1) Includes 64,475 shares of common stock related to RSUs and no shares of common stock related to PSUs that were not delivered as of September 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:
Nine months endedNine months ended
 September 30, 2020September 30, 2019
RSUsPSUsRSUsPSUs
Shares of common stock issued (1)
62,855 789 407,083 900,226 
Shares of common stock withheld by the Company as payment by employees in lieu of cash to satisfy tax withholding obligations
(16,972)(269)(123,013)(325,246)
Net shares of common stock issued45,883 520 284,070 574,980 
Cumulative undelivered shares of common stock252,601 — 172,627 — 
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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 nine months ended September 30, 2019.
Compensation expense recorded in the consolidated statement of operations
Compensation expense recorded related to RSUs and PSUs in the unaudited condensed consolidated statements of operations was as follows:
 Three months endedNine months ended
September 30,September 30,
(in thousands)2020201920202019
RSUs$2,876 $2,175 $9,141 $6,915 
PSUs634 430 444 1,076 
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 endedNine months ended
September 30,September 30,
(in thousands)2020201920202019
Cost of goods sold$357 $218 $985 $579 
Selling, general and administrative3,090 2,153 8,379 6,794 
Research and development227 234 713 618 
Total compensation expense before income tax3,674 2,605 10,077 7,991 
Income tax benefit811 580 2,123 1,716 
Total compensation expense, net of income tax$2,863 $2,025 $7,954 $6,275