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Capital Structure - Stock-based Compensation (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2023 | Mar. 31, 2022
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract] |  |
Total stock-based compensation expense | $ 1,739 | $ 1,927
Tax benefit | 345 | 377
Stock-based compensation cost related to non-vested equity awards not yet recognized as an expense | $ 9,200 |
Weighted-average period over which stock-based compensation cost related to non-vested equity awards is expected to be recognized | 2 years 1 month 6 days |
Stock options |  |
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract] |  |
Total stock-based compensation expense | $ 528 | 794
Restricted stock awards |  |
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract] |  |
Total stock-based compensation expense | 785 | 878
Performance Based Cash Units |  |
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract] |  |
Total stock-based compensation expense | 426 | 255
Stock-based compensation cost related to non-vested equity awards not yet recognized as an expense | $ 1,100 |
Weighted-average period over which stock-based compensation cost related to non-vested equity awards is expected to be recognized | 2 years 2 months 12 days |
Cost of revenues |  |
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract] |  |
Total stock-based compensation expense | $ 224 | 221
Research and development |  |
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract] |  |
Total stock-based compensation expense | 542 | 556
Selling, general and administrative |  |
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract] |  |
Total stock-based compensation expense | $ 973 | $ 1,150

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- Definition 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 + Details
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