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Stock-Based Compensation Expense - Allocation of Recognized Period Costs (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2022 | Mar. 31, 2021
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Allocated share-based compensation | $ 4,642 | $ 3,595
Cost of sales | Stock Options |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Allocated share-based compensation | 588 | 318
Research and development | Stock Options |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Allocated share-based compensation | 486 | 279
Selling, general and administrative |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Allocated share-based compensation | 3,568 | 2,998
Selling, general and administrative | Stock Options |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Allocated share-based compensation | 1,924 | 1,627
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 | 815 | 731
Selling, general and administrative | Restricted Stock Units |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Allocated share-based compensation | 399 | 355
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 | $ 430 | $ 285

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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. + References No definition available. + Details
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