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Equity Incentive Plans - Schedule of Compensation Expense Related to Equity Incentive Plans (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Total compensation expense before income tax $ 9,031 $ 5,305 $ 23,998 $ 21,369
Income tax benefit 2,024 945 5,433 4,304
Total compensation expense, net of income tax 7,007 4,360 18,565 17,065
Cost of goods sold        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Total compensation expense before income tax 439 340 1,242 1,095
Selling, general and administrative        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Total compensation expense before income tax 8,207 4,629 21,524 18,875
Research and development        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Total compensation expense before income tax $ 385 $ 336 $ 1,232 $ 1,399