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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, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated share-based compensation | $ 18,042 | $ 16,090 | $ 14,339
Cost of sales | Stock Options |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated share-based compensation | 1,606 | 1,476 | 1,357
Research and development | Stock Options |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated share-based compensation | 1,789 | 1,343 | 1,157
Selling, general and administrative |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated share-based compensation | 14,647 | 13,271 | 11,825
Selling, general and administrative | Stock Options |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated share-based compensation | 7,305 | 6,678 | 7,332
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 | 3,509 | 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 | 1,836 | 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 | $ 1,997 | $ 1,511 | $ 906

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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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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