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Stock-Based Compensation - Stock-based Compensation Expense and Related Income Tax Benefit (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2019
Mar. 31, 2018
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]    
Employee and director stock-based compensation expense $ 1,918 $ 2,204
Income tax benefit 399 463
Cost of sales    
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]    
Employee and director stock-based compensation expense 28 17
Research and development expenses    
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]    
Employee and director stock-based compensation expense 220 155
Selling, general and administrative expenses | Employees    
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]    
Employee and director stock-based compensation expense 1,424 1,528
Selling, general and administrative expenses | Outside directors    
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]    
Employee and director stock-based compensation expense $ 246 $ 504