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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, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Allocated share-based compensation | $ 5,797 | $ 4,598 | $ 15,346 | $ 13,691
Cost of sales | Employee Stock Option [Member] |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Allocated share-based compensation | 367 | 150 | 1,240 | 1,247
Research and development | Employee Stock Option [Member] |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Allocated share-based compensation | 488 | 476 | 1,329 | 1,412
Selling, general and administrative |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Allocated share-based compensation | 4,942 | 3,972 | 12,777 | 11,032
Selling, general and administrative | Employee Stock Option [Member] |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Allocated share-based compensation | 2,083 | 2,166 | 5,304 | 5,297
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 | 1,838 | 647 | 4,470 | 2,719
Selling, general and administrative | Restricted Stock Units |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Allocated share-based compensation | 430 | 454 | 1,341 | 1,382
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 | $ 591 | $ 705 | $ 1,662 | $ 1,634

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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 -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479830/718-10-S99-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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