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Stock-Based Compensation (Tables)
 9 Months Ended
Sep. 30, 2019
Share-based Payment Arrangement [Abstract]  
Schedule of Valuation Assumptions For performance-based restricted stock units granted during the nine months ended September 30, 2019 valued using the Monte Carlo Simulation valuation model, we used the following assumptions:
 Nine Months Ended
 September 30, 2019
Risk-free interest rate1.8% - 2.48%
Expected dividend yield— %
Expected volatility45.0 %
Weighted-average expected volatility45.0 %
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions For stock options granted during the nine months ended September 30, 2018 valued using the Black-Scholes option valuation model, we used the following assumptions:
 Nine Months Ended
 September 30, 2018
Risk-free interest rate2.65 %
Expected dividend yield— %
Expected term of option4 years
Expected volatility45.0 %
Weighted-average expected volatility45.0 %
Schedule of Stock Option Activity and Weighted Average Exercise Prices
A summary of stock option activity and weighted-average exercise prices during the nine months ended September 30, 2019 follows:
OptionsWeighted-
Average
Exercise Price		Weighted-Average
Remaining
Contractual Term
(Years)		Aggregate Intrinsic
Value as of
September 30, 2019
Outstanding at January 1, 2019792,943  $47.59  
Granted—  —  
Forfeited or expired(77,064) 54.64  
Exercised(70,936) 32.71  
Outstanding at September 30, 2019644,943  $48.66  3.8$3,757  
Options exercisable at September 30, 2019577,240  $48.62  2.6$3,331  
Schedule of Restricted Stock and Restricted Stock Units Activity and Weighted-Average Grant Date Fair Value
The following table summarizes the restricted stock and restricted stock unit activity and weighted average grant-date fair values for the nine months ended September 30, 2019:
SharesWeighted-Average
Grant Date
Fair Value
Non-vested at January 1, 2019311,000  $42.66  
Granted250,359  49.05  
Forfeited(25,738) 47.57  
Vested(130,527) 37.94  
Non-vested at September 30, 2019405,094  $47.81  
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 condensed consolidated statement of operations:

Three Months EndedNine Months Ended
September 30, 2019September 30, 2018September 30, 2019September 30, 2018
Cost of Sales
Product$170  $143  $482  $351  
Service100  98  288  269  
Total cost of sales$270  $241  $770  $620  
Operating Expenses
Selling and marketing$356  $411  $1,110  $1,123  
General and administrative2,389  1,172  5,942  2,808  
Research and development372  442  881  1,166  
Total operating expenses$3,117  $2,025  $7,933  $5,097