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Stock Compensation Plans (Tables)
 12 Months Ended
Dec. 31, 2019
Share-based Payment Arrangement [Abstract]  
Schedule of Valuation Assumptions For performance-based restricted stock units granted during 2019 valued using the Monte Carlo Simulation valuation model, we used the following assumptions:
Year ended December 31
2019
Risk-free interest rate
1.8% - 2.48%
Expected dividend yield— %
Expected volatility45.0 %
Weighted-average expected volatility45.0 %
For stock options granted during the years ended December 31, 2018 and 2017 valued using the Black-Scholes option valuation model, we used the following assumptions:
 Year ended December 31
 20182017
Risk-free interest rate2.65 %
1.88% - 2.02%
Expected dividend yield— %— %
Expected option life4 years5 years
Expected volatility45.0 %45.2 %
Weighted-average expected volatility45.0 %45.2 %
Schedule of Stock Option Activity
A summary of stock option activity and weighted average exercise prices follows:
OptionsWeighted-
Average
Exercise Price		Weighted-Average
Remaining
Contractual Term
(Years)		Aggregate Intrinsic
Value as of
December 31, 2019
Outstanding at January 1, 2019792,943  $47.59  
Granted—  —  
Forfeited(80,782) 54.82  
Exercised(225,479) 35.45  
Outstanding at December 31, 2019486,682  $52.37  3.4$2,267  
Options exercisable at December 31, 2019428,411  $52.86  2.1$1,836  
Schedule of Restricted Stock Activity
The following table summarizes the restricted stock and restricted stock unit activity and weighted-average grant date fair values for the year ended December 31, 2019:
SharesWeighted-Average
Grant Date
Fair Value
Non-vested at January 1, 2019311,000  $42.66  
Granted284,445  50.83  
Forfeited(33,291) 48.43  
Vested(163,836) 39.32  
Non-vested at December 31, 2019398,318  $49.53  
Share-based Payment Arrangement, Expensed and Capitalized, Amount
The following table summarizes total stock-based compensation expense for each of the line items on our consolidated statement of operations:
Years ended December 31,
201920182017
Cost of Sales
Product$628  $477  $342  
Service373  351  430  
Total cost of sales$1,001  $828  $772  
Operating Expenses
Selling, general and administrative$8,786  $5,210  $4,412  
Research and development1,282  1,583  1,272  
Total operating expenses$10,068  $6,793  $5,684