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Capital Structure - Stock-based Compensation (Details) - USD ($) $ in Thousands	3 Months Ended
	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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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)
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-Name Accounting Standards Codification
-Topic 718
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-Section 50
-Paragraph 2
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+ References

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