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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, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated share-based compensation | $ 16,090 | $ 14,339 | $ 9,382
Cost of sales | Stock Options |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated share-based compensation | 1,476 | 1,357 | 1,289
Research and development | Stock Options |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated share-based compensation | 1,343 | 1,157 | 961
Selling, general and administrative |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated share-based compensation | 13,271 | 11,825 | 7,132
Selling, general and administrative | Stock Options |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated share-based compensation | 6,678 | 7,332 | $ 7,132
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 | 3,525 | 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 | 1,557 | 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 | $ 1,511 | $ 906 |

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