Stock Compensation Plans (Tables)

12 Months Ended

Dec. 31, 2021

Share-based Payment Arrangement [Abstract]

Schedule of Valuation Assumptions

For market-based restricted stock units granted during 2021 and 2020 valued using the Monte Carlo Simulation valuation model, we used the following assumptions:

	Year ended December 31
	2021		2020
Risk-free interest rate	0.2	%	1.2	%
Expected dividend yield	—	%	—	%
Term	3 years		3 years
Expected volatility	45.0	%	40.0	%
Weighted-average expected volatility	45.0	%	40.0	%

Schedule of Stock Option Activity

A summary of stock option activity and weighted average exercise prices follows:

	Options	Weighted- Average Exercise Price		Weighted-Average Remaining Contractual Term (Years)	Aggregate Intrinsic Value as of December 31, 2021
Outstanding at January 1, 2021	155,048	$	56.53
Granted	—	—
Forfeited	(6,701)	58.08
Exercised	(103,823)	56.61
Outstanding at December 31, 2021	44,524	$	56.11	1.5	$	667
Options exercisable at December 31, 2021	44,524	$	56.11	0.2	$	667

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, 2021:

	Shares	Weighted-Average Grant Date Fair Value
Non-vested at January 1, 2021	377,447	$	60.92
Granted	168,573	100.66
Forfeited	(36,288)	80.07
Vested	(159,153)	57.73
Non-vested at December 31, 2021	350,579	$	79.11

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,
	2021		2020		2019
Cost of Sales
Product	$	566	$	356	$	628
Service	69		346		373
Total cost of sales	$	635	$	702	$	1,001
Operating Expenses
Selling, general and administrative	$	8,985	$	6,327	$	8,786
Research and development	1,836		1,285		1,282
Total operating expenses	$	10,821	$	7,612	$	10,068