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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, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated share-based compensation | $ 21,333 | $ 18,042 | $ 16,090
Cost of sales | Employee Stock Option [Member] |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated share-based compensation | 1,647 | 1,606 | 1,476
Research and development | Employee Stock Option [Member] |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated share-based compensation | 1,739 | 1,789 | 1,343
Selling, general and administrative |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated share-based compensation | 17,947 | 14,647 | 13,271
Selling, general and administrative | Employee Stock Option [Member] |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated share-based compensation | 7,542 | 7,305 | 6,678
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 | 6,344 | 3,509 | 3,525
Selling, general and administrative | Restricted Stock Units |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Allocated share-based compensation | 1,771 | 1,836 | 1,557
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 | $ 2,290 | $ 1,997 | $ 1,511

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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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