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Stock-Based Compensation Expense - Allocation of Recognized Period Costs (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Allocated share-based compensation | $ 4,857 | $ 4,063 | $ 11,589 | $ 10,268
Cost of sales | Stock Options |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Allocated share-based compensation | 383 | 336 | 1,019 | 1,022
Research and development | Stock Options |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Allocated share-based compensation | 355 | 304 | 910 | 851
Selling, general and administrative |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Allocated share-based compensation | 4,119 | 3,423 | 9,660 | 8,395
Selling, general and administrative | Stock Options |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Allocated share-based compensation | 2,071 | 1,948 | 4,512 | 5,377
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 | 1,193 | 842 | 2,896 | 1,987
Selling, general and administrative | Restricted Stock Units |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Allocated share-based compensation | 409 | 363 | 1,149 | 395
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 | $ 446 | $ 270 | $ 1,103 | $ 636

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