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Stock-Based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total employee and director stock-based compensation expense | $ 9,122 | $ 8,845 | $ 8,820
Income tax benefit | 1,594 | 1,877 | 1,870
Cost of sales |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total employee and director stock-based compensation expense | 182 | 139 | 84
Research and development expenses |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total employee and director stock-based compensation expense | 1,099 | 1,096 | 744
Selling, general and administrative expenses | Employees |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total employee and director stock-based compensation expense | 6,257 | 6,431 | 6,491
Selling, general and administrative expenses | Outside directors |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total employee and director stock-based compensation expense | $ 1,584 | $ 1,179 | $ 1,501

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