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Stock-Based Compensation - Allocation of Expense (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Allocation of stock-based compensation |  |  |
Stock-based compensation expense | $ 30,146 | $ 43,305 | $ 39,481
Tax benefit related to stock-based compensation | 12,300 | 3,500 | 4,600
Cost of sales |  |  |
Allocation of stock-based compensation |  |  |
Stock-based compensation expense | 1,739 | 2,440 | 1,127
Selling, general and administrative |  |  |
Allocation of stock-based compensation |  |  |
Stock-based compensation expense | 21,665 | 32,072 | 31,801
Research and development |  |  |
Allocation of stock-based compensation |  |  |
Stock-based compensation expense | $ 6,742 | $ 8,793 | $ 6,553

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