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Stock-Based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Stock-based compensation | $ 8,845 | $ 8,820 | $ 11,943
Income tax benefit | 1,877 | 1,870 | 2,954
Cost of sales |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Stock-based compensation | 139 | 84 | 71
Research and development expenses |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Stock-based compensation | 1,096 | 744 | 551
Selling, general and administrative expenses | Employees |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Stock-based compensation | 6,431 | 6,491 | 7,368
Selling, general and administrative expenses | Outside directors |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Stock-based compensation | $ 1,179 | $ 1,501 | $ 3,953

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