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Equity Incentive Plans - Compensation Expense (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Equity Incentive Plans |  |  |
Total compensation expense before income tax | $ 10,975 | $ 18,563 | $ 15,285
Income tax benefit | 2,440 | 4,398 | 3,158
Total compensation expense, net of tax | 8,535 | 14,165 | 12,127
Cost of goods sold |  |  |
Equity Incentive Plans |  |  |
Total compensation expense before income tax | 722 | 680 | 408
Selling, general and administrative expense |  |  |
Equity Incentive Plans |  |  |
Total compensation expense before income tax | 9,402 | 16,507 | 13,687
Research and development |  |  |
Equity Incentive Plans |  |  |
Total compensation expense before income tax | $ 851 | $ 1,376 | $ 1,190

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