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Stock-Based Compensation Expense - Allocation of Recognized Period Costs (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2021 | Jun. 30, 2020 | Jun. 30, 2021 | Jun. 30, 2020
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Allocated share-based compensation | $ 3,137 | $ 3,428 | $ 6,732 | $ 6,205
Cost of sales | Stock Options |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Allocated share-based compensation | 318 | 347 | 636 | 686
Research and development | Stock Options |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Allocated share-based compensation | 276 | 262 | 555 | 547
Selling, general and administrative |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Allocated share-based compensation | 2,543 | 2,819 | 5,541 | 4,972
Selling, general and administrative | Stock Options |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Allocated share-based compensation | 814 | 1,724 | 2,441 | 3,429
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 | 972 | 833 | 1,703 | 1,145
Selling, general and administrative | Restricted Stock Units |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Allocated share-based compensation | 385 | 31 | 740 | 31
Selling, general and administrative | Cash-settled share-based awards ("Liability Awards") |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Allocated share-based compensation | $ 372 | $ 231 | $ 657 | $ 367

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