That is the best source of information to ensure that you get your basis for the sale properly reported. It also has information about the grant date and the stock's FMV on the grant date and this information is particularly needed if the sale is a Qualifying Disposition.
If your employer's ESPP isn't a "Qualified" ESPP - you're allowed a discount on the purchase of the stock that's not reported on your W-2 as compensation - then you wouldn't get a Form 3922.