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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, 2023 | Mar. 31, 2022
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Allocated share-based compensation | $ 3,969 | $ 4,642
Cost of sales | Stock Options |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Allocated share-based compensation | 441 | 588
Research and development | Stock Options |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Allocated share-based compensation | 428 | 486
Selling, general and administrative |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Allocated share-based compensation | 3,100 | 3,568
Selling, general and administrative | Stock Options |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Allocated share-based compensation | 1,370 | 1,924
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 | 815
Selling, general and administrative | Restricted Stock Units |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Allocated share-based compensation | 444 | 399
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 | $ 471 | $ 430

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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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