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Equity Incentive Plans (Tables)
3 Months Ended
Mar. 31, 2022
Share-based Payment Arrangement [Abstract]  
Schedule of Restricted and Performance Stock Units
A summary of the Company’s RSUs and PSUs as of March 31, 2022 and changes during the three months then ended is presented below: 
 Weighted-Weighted-
 NumberAverageNumberAverage
 of RSUsFair Value RSUsof PSUsFair Value PSUs
Outstanding as of December 31, 2021691,373 $33.66 367,067 $32.84 
Granted345,230 43.96 167,587 43.96 
Vested (1)
(68,189)32.72 — — 
Forfeited(5,617)31.26 — — 
Outstanding as of March 31, 2022962,797 $37.43 534,654 $36.32 

_______________________________________________________________________________
(1) Includes 41,173 shares of common stock related to RSUs that were not delivered as of March 31, 2022.
Schedule 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:
Three months endedThree months ended
 March 31, 2022March 31, 2021
RSUsPSUsRSUsPSUs
Shares of common stock issued492,580 188,527 270,779 — 
Shares of common stock withheld by the Company as payment by employees in lieu of cash to satisfy tax withholding obligations
(159,851)(87,215)(89,938)— 
Net shares of common stock issued332,729 101,312 180,841 — 
Cumulative undelivered shares of common stock414,866 191,242 395,670 — 
Schedule of 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 ended
March 31,
(in thousands)20222021
RSUs$2,770 $2,359 
PSUs2,419 3,010 
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 ended
March 31,
(in thousands)20222021
Cost of goods sold$300 $(7)
Selling, general and administrative4,698 5,381 
Research and development355 159 
Total compensation expense before income tax5,353 5,533 
Income tax benefit1,176 1,267 
Total compensation expense, net of income tax$4,177 $4,266