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Stock Plans - Stock-based Compensation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract]
Total stock-based compensation expense	$ 5,461	$ 9,305	$ 11,137
Tax benefit	1,062	1,750	1,815
Stock-based compensation cost related to non-vested equity awards not yet recognized as an expense	$ 7,600
Weighted-average period over which stock-based compensation cost related to non-vested equity awards is expected to be recognized	1 year 9 months 18 days
Stock options
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract]
Total stock-based compensation expense	$ 2,570	3,748	1,308
Restricted stock awards
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract]
Total stock-based compensation expense	2,899	5,364	9,743
Performance Based Cash Units
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract]
Total stock-based compensation expense	(8)	193	86
Stock-based compensation cost related to non-vested equity awards not yet recognized as an expense	$ 300
Weighted-average period over which stock-based compensation cost related to non-vested equity awards is expected to be recognized	1 year 9 months 18 days
Cost of revenues
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract]
Total stock-based compensation expense	$ 788	1,593	2,409
Research and development
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract]
Total stock-based compensation expense	1,728	2,862	4,380
Selling, general and administrative
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract]
Total stock-based compensation expense	$ 2,945	$ 4,850	$ 4,348

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Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (h)(1)(i)
-URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901

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+ References

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-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (i)
-URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901

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+ References

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