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Note 7 - Stock-based Compensation
12 Months Ended
Dec. 31, 2018
Notes to Financial Statements  
Disclosure of Compensation Related Costs, Share-based Payments [Text Block]
7.
  STOCK-BASED COMPENSATION
 
2014
Equity Incentive Plan (the
“2014
Plan”)
 
The Board of Directors adopted the 
2014
 Plan in 
April 2013, 
and the stockholders approved it in 
June 2013. 
In 
October 2014, 
the Board of Directors approved certain amendments to the 
2014
 Plan. The 
2014
 Plan, as amended, became effective on 
November 13, 2014 
and provides for the issuance of up to 
5.5
 million shares. The 
2014
 Plan will expire on 
November 13, 2024. 
As of 
December 31, 2018, 
2.0
 million shares remained available for future issuance under the 
2014
 Plan. 
 
Stock-Based Compensation Expense
 
The Company recognized stock-based compensation expense as follows (in thousands):
 
   
Year Ended December 31,
 
   
2018
   
2017
   
2016
 
Cost of revenue
  $
1,888
    $
1,654
    $
1,575
 
Research and development
   
15,990
     
14,816
     
14,041
 
Selling, general and administrative
   
42,729
     
36,147
     
29,373
 
Total stock-based compensation expense
  $
60,607
    $
52,617
    $
44,989
 
Tax benefit related to stock-based compensation
  $
4,383
    $
5,054
    $
-
 
 
In the
first
quarter of
2016,
the Company’s former Chief Financial Officer retired. As the service or performance conditions for her outstanding RSUs had
not
been satisfied at the time of her departure, the Company reversed previously accrued stock-based compensation expenses of
$2.9
million associated with the unvested RSUs and this credit was reflected in selling, general and administrative expenses for the year ended
December 31, 2016.
 
RSUs
 
The Company’s RSUs include time-based RSUs, RSUs with performance conditions (“PSUs”), RSUs with market conditions (“MSUs”), and RSUs with both market and performance conditions (“MPSUs”). Vesting of awards with performance conditions or market conditions is subject to the achievement of pre-determined performance goals and the approval of such achievement by the Compensation Committee of the Board of Directors (the “Compensation Committee”). All awards include service conditions which require continued employment with the Company.
 
A summary of RSU activity is presented in the table below (in thousands, except per-share amounts): 
 
   
Time-Based RSUs
   
PSUs and MPSUs
   
MSUs
   
Total
   
Number of Shares
   
Weighted-Average Grant Date Fair Value Per Share
   
Number of Shares
     
Weighted-Average Grant Date Fair Value Per Share
   
Number of Shares
   
Weighted-Average Grant Date Fair Value Per Share
   
Number of Shares
   
Weighted-Average Grant Date Fair Value Per Share
Outstanding at January 1, 2016
   
499
    $
40.75
     
1,933
 
 
  $
38.99
     
1,800
    $
23.57
     
4,232
    $
32.64
Granted
   
133
    $
63.00
     
1,216
 
(1)
  $
41.12
     
-
    $
-
     
1,349
    $
43.28
Vested
   
(239
)   $
36.43
     
(736
)
 
  $
29.71
     
-
    $
-
     
(975
)   $
31.36
Forfeited
   
(27
)   $
45.35
     
(129
)
 
  $
36.82
     
(180
)   $
23.57
     
(336
)   $
30.38
Outstanding at December 31, 2016
   
366
    $
51.35
     
2,284
 
 
  $
43.24
     
1,620
    $
23.57
     
4,270
    $
36.47
Granted
   
81
    $
94.25
     
585
 
(1)
  $
62.72
     
-
    $
-
     
666
    $
66.56
Vested
   
(175
)   $
48.35
     
(597
)
 
  $
41.94
     
-
    $
-
     
(772
)   $
43.39
Forfeited
   
(14
)   $
61.80
     
(6
)
 
  $
49.82
     
-
    $
-
     
(20
)   $
58.46
Outstanding at December 31, 2017
   
258
    $
66.30
     
2,266
 
 
  $
48.59
     
1,620
    $
23.57
     
4,144
    $
39.91
Granted
   
133
    $
114.36
     
630
 
(1)
  $
85.06
     
600
    $
68.48
     
1,363
    $
80.62
Vested
   
(136
)   $
60.23
     
(717
)
 
  $
41.08
     
-
    $
-
     
(853
)   $
44.13
Forfeited
   
(15
)   $
82.20
     
(5
)
 
  $
63.16
     
(1
)   $
68.48
     
(21
)   $
76.92
Outstanding at December 31, 2018
   
240
    $
95.38
     
2,174
 
 
  $
61.61
     
2,219
    $
35.69
     
4,633
    $
50.94
 

(
1
)
Amount reflects the number of PSUs and MPSUs that 
may 
ultimately be earned based on management’s probability assessment of the achievement of performance conditions at each reporting period. In addition, MPSUs are subject to the achievement of market conditions.
 
The intrinsic value related to vested RSUs was
$90.0
million,
$74.0
million and
$62.9
million for the years ended
December 31, 2018,
2017
and
2016,
respectively. As of
December 31, 2018,
the total intrinsic value of all outstanding RSUs was
$494.0
million, based on the closing stock price of
$116.25.
As of
December 31, 2018,
unamortized compensation expense related to all outstanding RSUs was
$124.5
million with a weighted-average remaining recognition period of approximately
3.5
 years. 
 
Cash proceeds from vested PSUs with a purchase price totaled 
$10.6
 million for the year ended 
December 31, 2018. 
There were 
no
 
proceeds for the years ended
December 31, 2017
and
2016.
 
Time-Based RSUs
 
For the years ended
December 31, 2018,
2017
and
2016,
the Compensation Committee granted
133,000,
81,000
and
133,000
RSUs, respectively, with service conditions to non-executive employees and non-employee directors. The RSUs vest over 
four
 years for employees and 
one
 year for directors, subject to continued service with the Company.
 
PSUs and MPSUs
 
2019
PSUs:
 
In 
October 2018, 
the Compensation Committee granted
53,000
 PSUs to certain non-executive employees, which represent a target number of shares to be earned based on the Company’s 
2020
 revenue goals for certain regions or product line divisions, or based on the Company’s average 
two
-year (
2019
 and 
2020
) revenue growth rate compared against the analog industry’s average 
two
-year revenue growth rate as published by the Semiconductor Industry Association (
“2019
 Non-Executive PSUs”). The maximum number of shares that an employee can earn is either 
200%
 or 
300%
 of the target number of the 
2019
 Non-Executive PSUs, depending on the job classification of the employee. 
50%
 of the 
2019
 Non-Executive PSUs will vest in the 
first
 quarter of 
2021
 if the pre-determined performance goals are met during the performance period. The remaining 
2019
 Non-Executive PSUs will vest over the following 
two
 years on an annual or quarterly basis. Assuming the achievement of the highest level of performance goals, the total stock-based compensation cost for the 
2019
 Non-Executive PSUs is 
$10.9
 million.
 
The 
2019
 Non-Executive PSUs contain a purchase price feature, which requires the employees to pay the Company 
$30
 per share upon vesting of the shares. Shares that do 
not
 vest will 
not
 be subject to the purchase price payment. The Company determined the grant date fair value of the 
2019
 Non-Executive PSUs using the Black-Scholes model with the following assumptions: stock price of 
$108.43,
 expected term of 
2.9
 years, expected volatility of 
28.7%
 and risk-free interest rate of 
2.9%.
 
 
2018
PSUs:
 
In 
February 2018, 
the Compensation Committee granted 
188,000
 PSUs to the executive officers, which represent a target number of shares to be earned based on the Company’s average 
two
-year (
2018
 and 
2019
) revenue growth rate compared against the analog industry’s average 
two
-year revenue growth rate as published by the Semiconductor Industry Association (
“2018
 Executive PSUs”). The maximum number of shares that an executive officer can earn is 
300%
 of the target number of the 
2018
 Executive PSUs. 
50%
 of the 
2018
 Executive PSUs will vest in the 
first
 quarter of 
2020
 if the pre-determined performance goals are met during the performance period. The remaining 
2018
 Executive PSUs will vest over the following 
two
 years on a quarterly basis. Assuming the achievement of the highest level of performance goals, the total stock-based compensation cost for the 
2018
 Executive PSUs is 
$46.1
 million.
 
In 
February 2018, 
the Compensation Committee granted 
44,000
 PSUs to certain non-executive employees, which represent a target number of shares to be earned based on the Company’s 
2019
 revenue goals for certain regions or product line divisions, or based on the Company’s average 
two
-year (
2018
 and 
2019
) revenue growth rate compared against the analog industry’s average 
two
-year revenue growth rate as published by the Semiconductor Industry Association (
“2018
 Non-Executive PSUs”). The maximum number of shares that an employee can earn is either 
200%
 or 
300%
 of the target number of the 
2018
 Non-Executive PSUs, depending on the job classification of the employee. 
50%
 of the 
2018
 Non-Executive PSUs will vest in the 
first
 quarter of 
2020
 if the pre-determined performance goals are met during the performance period. The remaining 
2018
 Non-Executive PSUs will vest over the following 
two
 years on an annual or quarterly basis. Assuming the achievement of the highest level of performance goals, the total stock-based compensation cost for the 
2018
 Non-Executive PSUs, excluding cancelled shares for the terminated employees, is 
$8.8
 million.
 
The 
2018
 Executive PSUs and the 
2018
 Non-Executive PSUs contain a purchase price feature, which requires the employees to pay the Company 
$30
 per share upon vesting of the shares. Shares that do 
not
 vest will 
not
 be subject to the purchase price payment. The Company determined the grant date fair value of the 
2018
 Executive PSUs and the 
2018
 Non-Executive PSUs using the Black-Scholes model with the following assumptions: stock price of 
$110.00,
 expected term of 
2.6
 years, expected volatility of 
27.5%
 and risk-free interest rate of 
2.3%.
 
 
2017
PSUs:
 
In
February 2017,
the Compensation Committee granted
200,000
 PSUs to the executive officers, which represented a target number of shares that would be earned based on the Company’s average
two
-year (
2017
and
2018
) revenue growth rate compared against the analog industry’s average
two
-year revenue growth rate as published by the Semiconductor Industry Association (
“2017
Executive PSUs”). The maximum number of shares that an executive officer could earn was
300%
of the target number of the
2017
Executive PSUs. In 
February 2019, 
the Compensation Committee approved the revenue achievement for the 
2017
 Executive PSUs and a total of 
521,000
 shares were earned by the executive officers.
50%
of the
2017
Executive PSUs vested in the
first
quarter of
2019.
The remaining 
2017
Executive PSUs vest over the following
two
years on a quarterly basis. Based on the actual achievement of the performance goals, the total stock-based compensation cost for the 
2017
 Executive PSUs is 
$31.5
 million.
 
In
February 2017,
the Compensation Committee granted
48,000
 PSUs to certain non-executive employees, which represented a target number of shares that would be earned based on the Company’s
2018
revenue goals for certain regions or product line divisions, or based on the Company’s average
two
-year (
2017
and
2018
) revenue growth rate compared against the analog industry’s average
two
-year revenue growth rate as published by the Semiconductor Industry Association (
“2017
Non-Executive PSUs”). The maximum number of shares that an employee could earn was either
200%
or
300%
of the target number of the
2017
Non-Executive PSUs, depending on the job classification of the employee. In 
February 2019, 
the Compensation Committee approved the revenue achievement for the 
2017
 Non-Executive PSUs and a total of 
101,000
 shares were earned by the employees.
50%
of the
2017
Non-Executive PSUs vested in the
first
quarter of
2019.
The remaining 
2017
Non-Executive PSUs vest over the following
two
years on an annual or quarterly basis. Based on the actual achievement of the performance goals, the total stock-based compensation cost for the 
2017
 Non-Executive PSUs, excluding cancelled shares for the terminated employees, is 
$6.1
 million.
 
The
2017
Executive PSUs and the
2017
Non-Executive PSUs contain a purchase price feature, which requires the employees to pay the Company
$30
per share upon vesting of the shares. Shares that do
not
vest will
not
be subject to the purchase price payment. The Company determined the grant date fair value of the
2017
Executive PSUs and the
2017
Non-Executive PSUs using the Black-Scholes model with the following assumptions: stock price of
$89.37,
expected term of
2.6
years, expected volatility of
28.6%
and risk-free interest rate of
1.3%.
 
 
2016
PSUs:
 
In
February 2016,
the Compensation Committee granted
285,000
 PSUs to the executive officers, and in
July 2016,
the Compensation Committee granted
12,000
PSUs to the Company’s new Chief Financial Officer, which represented a target number of shares that would be earned based on the Company’s average
two
-year (
2016
and
2017
) revenue growth rate compared against the analog industry’s average
two
-year revenue growth rate as published by the Semiconductor Industry Association (
“2016
Executive PSUs”). The maximum number of shares that an executive officer could earn was
300%
of the target number of the
2016
Executive PSUs. In
February 2018,
the Compensation Committee approved the revenue achievement for the
2016
Executive PSUs and a total of
651,000
shares were earned by the executive officers.
50%
of the
2016
Executive PSUs vested in the
first
quarter of
2018.
The remaining 
2016
Executive PSUs vest over the following
two
years on a quarterly basis. Based on the actual achievement of the performance goals, the total stock-based compensation cost for the
2016
Executive PSUs, excluding cancelled shares for the Company’s former Chief Financial Officer, is
$26.1
million.
 
In
February 2016,
the Compensation Committee granted
64,000
 PSUs to certain non-executive employees, which represented a target number of shares that would be earned based on the Company’s
2017
revenue goals for certain regions or product line divisions, or based on the Company’s average
two
-year (
2016
and
2017
) revenue growth rate compared against the analog industry’s average
two
-year revenue growth rate as published by the Semiconductor Industry Association (
“2016
Non-Executive PSUs”). The maximum number of shares that an employee could earn was either
200%
or
300%
of the target number of the
2016
Non-Executive PSUs, depending on the job classification of the employee. In
February 2018,
the Compensation Committee approved the revenue achievement for the
2016
Non-Executive PSUs and a total of
128,000
shares were earned by the employees.
50%
of the
2016
Non-Executive PSUs vested in the
first
quarter of
2018.
The remaining 
2016
Non-Executive PSUs vest over the following
two
years on an annual or quarterly basis. Based on the actual achievement of the performance goals, the total stock-based compensation cost for the
2016
Non-Executive PSUs, excluding cancelled shares for the terminated employees, is
$5.1
 million.
 
The
2016
Executive PSUs and the
2016
Non-Executive PSUs contain a purchase price feature, which requires the employees to pay the Company
$20
per share upon vesting of the shares. Shares that do
not
vest will
not
be subject to the purchase price payment. The Company determined the grant date fair value of the
2016
Executive PSUs and the
2016
Non-Executive PSUs granted in
February 2016
using the Black-Scholes model with the following assumptions: stock price of
$58.98,
expected term of
2.6
years, expected volatility of
31.1%
and risk-free interest rate of
0.9%.
 For the 
2016
Executive PSUs granted in
July 2016,
the Company used the following assumptions: stock price of
$70.98,
expected term of
2.3
years, expected volatility of
29.6%
and risk-free interest rate of
0.7%.
  
2015
 PSUs:
 
In 
February 2015, 
the Compensation Committee granted 
172,000
 PSUs to the executive officers, which represented a target number of shares that would be earned based on the Company’s average 
two
-year (
2015
 and 
2016
) revenue growth rate compared against the analog industry’s average 
two
-year revenue growth rate as published by the Semiconductor Industry Association (
“2015
 Executive PSUs”). The maximum number of shares that an executive officer could earn was 
300%
 of the target number of the 
2015
 Executive PSUs. In 
February 2017, 
the Compensation Committee approved the revenue achievement for the 
2015
 Executive PSUs and a total of 
432,000
 shares were earned by the executive officers. 
50%
 of the 
2015
 Executive PSUs vested in the 
first
 quarter of 
2017.
 The remaining 
2015
 Executive PSUs vest over the following 
two
 years on a quarterly basis. Based on the actual achievement of the performance goals, the total stock-based compensation cost for the 
2015
 Executive PSUs, excluding cancelled shares for the Company’s former Chief Financial Officer, is 
$21.0
 million.
 
In 
February 2015, 
the Compensation Committee granted 
58,000
 PSUs to certain non-executive employees, which represented a target number of shares that would be earned based on the Company’s 
2016
 revenue goals for certain regions or product line divisions, or based on the Company’s average 
two
-year (
2015
 and 
2016
) revenue growth rate compared against the analog industry’s average 
two
-year revenue growth rate as published by the Semiconductor Industry Association (
“2015
 Non-Executive PSUs”). The maximum number of shares that an employee could earn was either 
200%
 or 
300%
 of the target number of the 
2015
 Non-Executive PSUs, depending on the job classification of the employee. In 
February 2017, 
the Compensation Committee approved the revenue achievement for the 
2015
 Non-Executive PSUs and a total of 
118,000
 shares were earned by the employees. 
50%
 of the 
2015
 Non-Executive PSUs vested in the 
first
 quarter of 
2017.
 The remaining 
2015
 Non-Executive PSUs vest over the following 
two
 years on an annual or quarterly basis. Based on the actual achievement of the performance goals, the total stock-based compensation cost for the 
2015
 Non-Executive PSUs, excluding cancelled shares for the terminated employees, is 
$5.7
 million.
 
2015
MPSUs:
 
In
December 2015, 
the Compensation Committee granted 
86,000
 MPSUs to the executive officers and 
41,000
 MPSUs to certain non-executive employees, which represent a target number of shares to be earned upon achievement of both market conditions and performance conditions (
“2015
 MPSUs”). The maximum number of shares that an employee can earn is 
500%
 of the target number of the 
2015
 MPSUs. The 
2015
 MPSUs consist of 
four
separate tranches with various performance periods all ending on 
December 31, 2019. 
The 
first
 tranche contains market conditions only, which require the achievement of 
five
stock price targets ranging from 
$71.36
 to 
$95.57
 with a performance period from 
January 1, 2016 
to 
December 31, 2019. 
 
The second, 
third
 and 
fourth
 tranches contain both market and performance conditions. The
five
stock price targets for the 
second
 tranche range from 
$89.56
 to 
$106.81
 with a performance period from 
January 1, 2017 
to 
December 31, 2019. 
The
five
stock price targets for the 
third
 tranche range from 
$120.80
 to 
$135.48
 with a performance period from 
January 1, 2018 
to 
December 31, 2019. 
The
five
stock price targets for the 
fourth
 tranche range from
$126.08
to
$136.79
with a performance period from 
January 1, 2019 
to 
December 31, 2019.
 
In addition, each of the second, 
third
 and 
fourth
 tranches requires the achievement of 
one
 of following 
six
 operating metrics:
 
 
1.
Successful implementation of full digital solutions for certain power products.
 
2.
Successful implementation, and adoption by a key customer, of an integrated, software-based field-oriented control with sensors to motor drivers.
 
3.
Successful implementation of certain advanced power analog processes.
 
4.
Successful design wins and achievement of a specific level of revenue with a global networking customer.
 
5.
Achievement of a specific level of revenue with a global electronics manufacturer.
 
6.
Achievement of a specific level of market share with certain core power products.
   
The following table summarize the status of the market and performance conditions:
 
Tranche
 
Market Conditions
 
Performance Conditions
One
 
All stock price targets have been achieved as of
September 30, 2017.
 
Not
required.
Two
 
All stock price targets have been achieved as of
December 31, 2017.
 
Operating metric
#1
has been achieved as of
December 31, 2018.
Three
 
All stock price targets have been achieved as of
September 30, 2018.
 
Operating metric
#2
has been achieved as of
December 31, 2018.
Four
 
No
stock price targets have been achieved as of
December 31, 2018.
 
No
operating metric has been achieved as of
December 31, 2018.
 
A total of
394,000
shares have been earned by the employees as of
December 31, 2018.
The 
2015
 MPSUs will vest on 
January 1, 2020,
with post-vesting sales restrictions on the vested shares for up to an additional
two
 years.
 
The Company determined the grant date fair value of the 
2015
 MPSUs using a Monte Carlo simulation model with the following weighted-average assumptions: stock price of 
$61.35,
 expected volatility of 
33.2%,
 risk-free interest rate of 
1.3%,
 and an illiquidity discount of 
7.8%
 to account for the post-vesting sales restrictions. Assuming the achievement of all of the required market and performance goals, the total stock-based compensation cost for the 
2015
MPSUs, excluding cancelled shares for the terminated employees, is 
$24.6
 million (
$8.3
 million for the 
first
 tranche, 
$4.5
 million for the 
second
 tranche, 
$5.2
 million for the 
third
 tranche, and 
$6.6
 million for the 
fourth
 tranche).
 
For the 
first
 tranche which contains market conditions only, stock-based compensation expense is being recognized over the requisite service period. For the second, 
third
 and 
fourth
 tranches, stock-based compensation expense for each tranche is recognized if an operating metric has been achieved, or if management believes it is probable that an operating metric will be achieved during the performance periods. As of
December 31, 2018,
two
operating metrics have been achieved, and based on management’s quarterly assessment,
one
additional operating metric was considered probable of being achieved during the performance period. Accordingly, stock-based compensation expense is being recognized for the second, 
third
 and 
fourth
 tranches over the requisite service period.
 
MSUs
 
2018
MSUs:
 
In 
October 2018, 
the Compensation Committee granted 
60,000
 MSUs to the executive officers and 
60,000
 MSUs to certain non-executive employees, which represent a target number of shares to be earned upon achievement of stock price targets (
“2018
 MSUs”). The maximum number of shares that an employee can earn is 
500%
 of the target number of the 
2018
 MSUs if the Company achieves
five
stock price targets ranging from
$140
to
$172.
The performance period for the
first
two
stock price targets is from
October 26, 2018
to
December 31, 2021,
and the performance period for the last
three
price targets is from
October 26, 2018
to
December 31, 2023.
As of
December 31, 2018,
none
of the stock price targets has been met. If the stock price targets are achieved during the performance periods, the 
2018
 MSUs will vest on 
January 1, 2024, 
with post-vesting sales restrictions on the vested shares for up to an additional
two
 years. The total stock-based compensation cost for the
2018
MSUs is
$41.1
million.
 
The Company determined the grant date fair value of the
2018
MSUs using a Monte Carlo simulation model with the following assumptions: stock price of
$108.43,
expected volatility of
31.6%,
a risk-free interest rate of
3.0%,
and an illiquidity discount of
8.7%
to account for the post-vesting sales restrictions. 
 
2013
MSUs:
 
In
December 2013,
the Compensation Committee granted
276,000
MSUs to the executive officers and
84,000
MSUs to certain non-executive employees, which represented a target number of shares that would be earned upon achievement of stock price targets (
“2013
MSUs”). The maximum number of shares that an employee could earn was
500%
of the target number of the
2013
MSUs if the Company achieved
five
price targets ranging from
$40
to
$56
during a performance period from
January 1, 2014
to
December 31, 2018.
As of
December 31, 2015,
all stock price targets have been met and the employees earned a total of
1.8
million shares. The
2013
MSUs will vest quarterly from
January 1, 2019
to
December 31, 2023.
The total stock-based compensation cost for the
2013
MSUs, excluding cancelled shares for the terminated employees, is
$38.2
million.
 
The Company determined the grant date fair value of the
2013
MSUs using a Monte Carlo simulation model with the following assumptions: stock price of
$31.73,
expected volatility of
38.7%
and a risk-free interest rate of
1.6%.
  There was
no
illiquidity discount because the awards do
not
contain any post-vesting sales restrictions.
 
Stock Options 
 
A summary of stock option activity is presented in the table below:
 
   
Shares
   
Weighted-Average Exercise Price
   
Weighted-Average Remaining Contractual Term
   
Aggregate Intrinsic Value
 
   
(in thousands)
           
(in years)
   
(in thousands)
 
Outstanding at January 1, 2016
   
90
    $
17.50
     
1.3
    $
4,134
 
Exercised
   
(76
)   $
17.80
     
 
     
 
 
Outstanding at December 31, 2016
   
14
    $
15.88
     
1.0
    $
921
 
Exercised
   
(9
)   $
16.79
     
 
     
 
 
Outstanding at December 31, 2017
   
5
    $
13.89
     
0.4
    $
465
 
Exercised
   
(5
)   $
13.89
     
 
     
 
 
Outstanding at December 31, 2018
   
-
    $
-
     
-
    $
-
 
 
Total intrinsic value of options exercised was
$0.5
million,
$0.7
million and
$3.7
million for the years ended
December 31, 2018,
2017
and
2016,
respectively. Cash proceeds from stock option exercises were
$0.1
million,
$0.1
million and
$1.3
million for the years ended
December 31, 2018,
2017
and
2016,
respectively.
 
Employee Stock Purchase Plan (“ESPP”)
 
Under the ESPP, eligible employees
may
purchase common stock through payroll deductions. Participants
may
not
purchase more than
2,000
shares in a
six
-month offering period, or purchase shares having a value greater than
$25,000
in any calendar year as measured at the beginning of the offering period in accordance with the Internal Revenue Code and applicable Treasury Regulations.  The ESPP provides for an annual increase by an amount equal to the least of
1.0
million shares,
2%
of the outstanding shares of common stock on the
first
day of the year, or a number of shares as determined by the Board of Directors.  As of
December 31, 2018,
4.6
million shares were available for future issuance. The ESPP will expire in
November 2024.
 
For the years ended
December 31, 2018,
2017
and
2016,
33,000,
40,000
and
53,000
shares, respectively, were issued under the ESPP. The intrinsic value of the shares issued was
$1.1
million,
$1.0
million and
$1.0
million for the years ended
December 31, 2018,
2017
and
2016,
respectively. The unamortized expense as of
December 31, 2018
was
$0.1
million, which will be recognized through the
first
quarter of
2019.
The Black-Scholes model was used to value the employee stock purchase rights with the following weighted-average assumptions: 
 
   
Year Ended December 31,
 
   
2018
   
2017
   
2016
 
Expected term (years)
   
0.5
     
0.5
     
0.5
 
Expected volatility
   
29.5
%    
23.5
%    
28.6
%
Risk-free interest rate
   
2.0
%    
0.9
%    
0.4
%
Dividend yield
   
1.0
%    
0.9
%    
1.2
%
 
Cash proceeds from the shares issued under the ESPP were
$3.0
million,
$2.7
million and
$2.5
million for the years ended
December 31, 2018,
2017
and
2016,
respectively.