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Summary of Significant Accounting Policies - Other Narrative (Details) - USD ($)
$ in Thousands
 12 Months Ended 19 Months Ended
Mar. 06, 2020
Feb. 25, 2020
Feb. 24, 2020
May 08, 2019
May 07, 2019
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Sep. 30, 2021
Mar. 03, 2020
Dec. 31, 2019
Oct. 26, 2018
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                        
Design and development           $ 65,296 $ 66,165 $ 49,386        
Percentage of net sales           7.30% 8.60% 7.60%        
Research and development expense reimbursed           $ 23,784 $ 15,849 $ 19,302        
Share-based compensation expense           5,942 5,960 5,888        
Share-based compensation expense capitalized as inventory           $ 0 0 $ 0        
Potential dilutive shares (in shares)           232,458   372,937        
Deferred financing cost amortization and debt discount accretion           $ 1,051 643 $ 506        
Total interest expense, net           7,097 5,189 6,124        
Deferred financing costs, net           996 1,563          
Repurchase authorized amount     $ 50,000                 $ 50,000
Common Share repurchase program payment           0 0 4,995        
Initial delivery of shares (in shares)   364,604                    
Share repurchase period     18 months                  
Increase to retained earnings           280,942 295,950 296,634     $ 289,904  
Cumulative Effect, Period of Adoption, Adjustment                        
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                        
Increase to retained earnings                     13,750  
Common Shares held in treasury                        
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                        
Reduction to shareholders' equity   $ 10,000                    
Increase to retained earnings           (50,366) (55,264) (60,482)     (50,773)  
Additional paid-in capital                        
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                        
Reduction to shareholders' equity   $ 10,000                    
Increase to retained earnings           232,758 232,490 234,409     225,607  
Retained earnings                        
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                        
Increase to retained earnings           201,692 $ 215,748 212,342     206,542  
Retained earnings | Cumulative Effect, Period of Adoption, Adjustment                        
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                        
Increase to retained earnings                     $ 13,750  
Retained earnings | Cumulative Effect, Period of Adoption, Adjustment | Accounting Standards Update 2019-12                        
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                        
Increase to retained earnings               13,750        
Accelerated Share Repurchase Agreement [Member]                        
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                        
Common Share repurchase program payment         $ 50,000              
Initial delivery of shares (in shares)       1,349,528                
Percentage of total number of Company Shares       80.00%                
Reduction to shareholders' equity       $ 40,000                
Reduction to shareholders' equity as unsettled forward contract       $ 10,000                
Agreement Letter 10b18 [Member]                        
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                        
Repurchase authorized amount                   $ 5,000    
Reduction to shareholders' equity $ 4,995                      
Delivery of shares received (in shares) 242,634               0      
Agreement Letter 10b18 [Member] | Additional paid-in capital                        
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                        
Reduction to shareholders' equity $ 4,995                      
Credit Facility                        
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                        
Capitalized deferred financing costs           484   $ 1,086        
Amendment Number Three | Credit Facility                        
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                        
Total interest expense, net           $ 365            
Performance Based Right to Receive Common Shares [Member]                        
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                        
Common shares, non-vested           767,593 580,116 752,784        
Selling, general and administrative                        
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                        
Share-based compensation expense           $ 5,942 $ 5,960 $ 5,888