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Stock-Based Compensation - Stock-based Compensation Expense and Related Income Tax Benefit (Details) - USD ($) $ in Thousands | 3 Months Ended
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Mar. 31, 2020 | Mar. 31, 2019
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Employee and director stock-based compensation expense | $ 2,303 | $ 1,918
Income tax benefit | 506 | 399
Cost of sales |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Employee and director stock-based compensation expense | 74 | 28
Research and development expenses |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Employee and director stock-based compensation expense | 236 | 220
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 | 1,583 | 1,424
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 | $ 410 | $ 246

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