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Equity Incentive Plans - Compensation Expense (Details) - USD ($)
$ in Thousands
 12 Months Ended
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