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Equity Incentive Plans - Schedule of Compensation Expense Related to Equity Incentive Plans (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2023 | Mar. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Total compensation expense before income tax | $ 7,283 | $ 5,353
Income tax benefit | 1,492 | 1,176
Total compensation expense, net of income tax | 5,791 | 4,177
Cost of goods sold |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Total compensation expense before income tax | 373 | 300
Selling, general and administrative |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Total compensation expense before income tax | 6,223 | 4,698
Research and development |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |
Total compensation expense before income tax | $ 687 | $ 355

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