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Stock-Based Compensation - Allocation of Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Allocation of stock-based compensation |  |  |  |
Stock-based compensation expense | $ 10,484 | $ 9,411 | $ 30,541 | $ 26,873
Cost of sales |  |  |  |
Allocation of stock-based compensation |  |  |  |
Stock-based compensation expense | 591 | 492 | 1,579 | 1,419
Selling, general and administrative |  |  |  |
Allocation of stock-based compensation |  |  |  |
Stock-based compensation expense | 6,802 | 6,443 | 19,868 | 18,699
Research and development |  |  |  |
Allocation of stock-based compensation |  |  |  |
Stock-based compensation expense | $ 3,091 | $ 2,476 | $ 9,094 | $ 6,755

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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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