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Share-based Compensations - Recognized Share-based Compensation (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2021 | Mar. 31, 2020
Recognized share-based compensation |  |
Total share-based compensation expense | $ 3,237 | $ 3,646
Cost of sales |  |
Recognized share-based compensation |  |
Total share-based compensation expense | 495 | 521
Research and development |  |
Recognized share-based compensation |  |
Total share-based compensation expense | 817 | 874
Selling, general and administrative |  |
Recognized share-based compensation |  |
Total share-based compensation expense | $ 1,925 | $ 2,251
Restricted stock awards | Minimum |  |
Share-based compensation |  |
Expiration term | 1 year |
Restricted stock awards | Maximum |  |
Share-based compensation |  |
Expiration term | 5 years |

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