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Stock-Based Compensation - Stock-based Compensation Expense and Related Income Tax Benefit (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2019 | Sep. 30, 2018 | Sep. 30, 2019 | Sep. 30, 2018
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Employee and director stock-based compensation expense | $ 2,527 | $ 2,139 | $ 6,718 | $ 6,808
Income tax benefit | 509 | 441 | 1,385 | 1,423
Cost of sales |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Employee and director stock-based compensation expense | 37 | 21 | 102 | 61
Research and development expenses |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Employee and director stock-based compensation expense | 315 | 200 | 809 | 556
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 | 1,866 | 1,671 | 5,005 | 4,936
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 | $ 309 | $ 247 | $ 802 | $ 1,255

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