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Employee Stock Purchase Plan, Stock Options and Warrants - Allocation of Recognized Period Costs (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated share-based compensation | $ 14,339 | $ 9,382 | $ 6,117
Cost of sales | Stock Options |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated share-based compensation | 1,357 | 1,289 | 870
Research and development | Stock Options |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated share-based compensation | 1,157 | 961 | 553
Selling, general and administrative |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated share-based compensation | 11,825 | 7,132 | 4,694
Selling, general and administrative | Stock Options |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated share-based compensation | 7,332 | $ 7,132 | $ 4,694
Selling, general and administrative | Stock-Settled Performance-Based Restricted Stock Units |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated share-based compensation | 2,829 |  |
Selling, general and administrative | Restricted Stock Units |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated share-based compensation | 758 |  |
Selling, general and administrative | Cash-Settled Performance-Based Share-Based Awards (Liability Awards) |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated share-based compensation | $ 906 |  |

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