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Stock Compensation (Tables)
 12 Months Ended
Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]  
Schedule of Shares Available for Grant
We are currently authorized to grant and have available for grant the following number of shares under our stock plans as of December 31, 2023 and 2022:
Authorized
Shares		Available for Grant
Plan20232022
1996 Discounted Employee Stock Purchase Plan, as amended2,900,000 826,000 967,000 
2020 Equity and Cash Incentive Plan7,145,000 3,281,000 999,000 
Total10,045,000 4,107,000 1,966,000 
Schedule of Stock Grant Activity for RSAs
A summary of stock grant activity for the years ended December 31, 2023, 2022, and 2021 for RSAs, RSUs, and PSUs, based on the target number of shares, was as follows:
RSAsSharesWeighted
Average
Grant Date
Fair Value
Unvested at December 31, 2020258,000 $25.08 
Granted140,000 25.68 
Vested(130,000)22.40 
Forfeited(33,000)27.39 
Unvested at December 31, 2021235,000 26.59 
Granted64,000 17.91 
Vested(89,000)28.60 
Unvested at December 31, 2022210,000 23.09 
Granted78,000 15.45 
Vested(128,000)22.02 
Forfeited(4,000)24.90 
Unvested at December 31, 2023156,000 20.11 
Schedule of Stock Grant Activity for RSUs
RSUsSharesWeighted
Average
Remaining
Contractual
Term in years		Aggregate
Intrinsic
Value
Unvested at December 31, 2020212,000 1.02$5,015,000 
Granted144,000 
Vested(93,000)
Forfeited(39,000)
Unvested at December 31, 2021224,000 0.944,558,000 
Granted643,000 
Vested(100,000)
Forfeited(33,000)
Unvested at December 31, 2022734,000 2.028,895,000 
Granted327,000 
Vested(125,000)
Forfeited(57,000)
Unvested at December 31, 2023879,000 1.4115,711,000 
Vested and expected to vest879,000 1.41$15,711,000 
Schedule of Stock Grant Activity for PSUs
PSUsSharesWeighted
Average
Remaining
Contractual
Term in years		Aggregate
Intrinsic
Value
Unvested at December 31, 2020331,000 1.64$7,805,000 
Granted215,000 
Vested(60,000)
Forfeited(114,000)
Unvested at December 31, 2021372,000 0.907,579,000 
Granted182,000 
Vested(117,000)
Forfeited(97,000)
Unvested at December 31, 2022340,000 0.674,121,000 
Granted308,000 
Vested(213,000)
Forfeited(169,000)
Unvested at December 31, 2023266,000 0.544,749,000 
 
Vested and expected to vest266,000 0.54$4,749,000 
Summary of Stock Option Activity
A summary of our stock option activity for the years ended December 31, 2023, 2022, and 2021 was as follows:
SharesWeighted
Average
Exercise Price		Weighted
Average
Remaining
Contractual
Term in years		Aggregate
Intrinsic
Value
Outstanding at December 31, 20201,241,000 $18.16 3.38$8,215,000 
Granted226,000 24.90 
Exercised(179,000)12.02 
Forfeited(42,000)26.00 
Outstanding at December 31, 20211,246,000 20.00 3.204,039,000 
Granted1,031,000 13.29 
Exercised(151,000)11.85 
Forfeited(3,000)21.55 
Outstanding at December 31, 20222,123,000 17.31 4.561,150,000 
Granted110,000 17.54 
Exercised(226,000)11.05 
Forfeited(93,000)12.59 
Expired(36,000)25.55 
Outstanding at December 31, 20231,878,000 18.16 4.124,678,000 
Vested and expected to vest1,878,000 $18.16 4.12$4,678,000 
Exercisable at December 31, 20231,080,000 $20.59 3.03$1,714,000 
Summary of Other Information Concerning Stock Options
Other information concerning stock options for the years ended December 31 was as follows:
202320222021
Weighted-average fair value of options granted$7.87 $5.31 $8.82 
Intrinsic value of options exercised695,000 1,120,000 2,716,000 
Schedule of Weighted-Average Assumptions Used to Determine the Fair Value of Options
The following weighted-average assumptions were used to determine the fair value of options:
202320222021
Stock
Options		ESPP
Options		Stock
Options		ESPP
Options		Stock
Options		ESPP
Options
Expected life of options5.00 Years0.50 Years5.00 Years0.50 Years5.00 Years0.50 Years
Expected stock price volatility0.450.570.400.400.400.45
Risk-free interest rate4.11%5.03%3.58%1.34%0.57%0.07%
Summary of Total Stock Compensation Expenses
The following table summarizes stock compensation expense (in thousands):
202320222021
RSA, RSU, and PSU expense$11,875 $10,351 $9,023 
Stock option and ESPP option expense3,271 2,591 2,254 
Total stock compensation expense$15,146 $12,942 $11,277