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Stock-Based Compensation - Allocation of Expense (Details) - USD ($)
$ in Thousands
12 Months Ended
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