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Stock Plans - Recognized Share-based Compensation (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Recognized share-based compensation |  |  |
Total share-based compensation expense | $ 28,558 | $ 22,994 | $ 15,249
Share-based compensation tax benefit | 3,900 | 4,500 |
Cost of Sales |  |  |
Recognized share-based compensation |  |  |
Total share-based compensation expense | 4,913 | 4,551 | 2,373
Research and development |  |  |
Recognized share-based compensation |  |  |
Total share-based compensation expense | 8,994 | 6,682 | 3,850
Selling, general and administrative |  |  |
Recognized share-based compensation |  |  |
Total share-based compensation expense | $ 14,651 | $ 11,761 | $ 9,026

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