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Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2021
Share-based Payment Arrangement [Abstract]  
Summary of Stock Option Activity
The following table summarizes the Company’s stock option activity:
Shares
(in thousands)		Weighted-
Average
Exercise
Price		Weighted-
Average
Remaining
Contractual
Term
(in years)		Aggregate
Intrinsic Value
(in thousands)
Outstanding as of December 31, 20208,970 $44.73 
Granted564 88.62 
Exercised(1,694)37.70 
Forfeited or expired(230)50.34 
Outstanding as of December 31, 20217,610 $49.38 6.57$222,053 
Exercisable as of December 31, 20213,442 $39.87 5.45$130,448 
Options vested or expected to vest as of 
 December 31, 2021 (1)		7,134 $48.66 6.49$212,746 
(1) In addition to the vested options, the Company expects a portion of the unvested options to vest at some point in the future. Options expected to vest are calculated by applying an estimated forfeiture rate to the unvested options.
Weighted-Average Assumptions Used in Estimating Fair Values of Stock Options Granted
The fair values of stock options granted in each period presented were estimated using the following weighted-average assumptions:
 Year Ended December 31,
 202120202019
Risk-free rate1.3 %1.4 %2.7 %
Expected dividend yield0.27 %0.41 %0.39 %
Expected volatility39 %37 %37 %
Expected term (in years)6.06.05.3
Nonvested Restricted Stock Shares Activity [Table Text Block]
The following tables summarizes the Company's RSU activity:
Shares
(in thousands)		Weighted-Average
Grant Date Fair Value
Nonvested as of December 31, 2020554 $51.27 
Granted335 87.03 
Vested(16)57.31 
Forfeited or expired(50)58.47 
Nonvested as of December 31, 2021823 $65.26 
Stock-Based Compensation Expense
The following table presents the stock-based compensation expense by caption for each period presented on the Consolidated Statements of Operations (in thousands):
 Year Ended December 31,
 202120202019
Cost of revenue$1,345 $1,365 $1,504 
Research, development, and engineering13,535 13,387 15,748 
Selling, general, and administrative28,894 27,909 28,337 
$43,774 $42,661 $45,589