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Performance-Based Common Stock Warrants - Impact to Net Sales in Connection with Warrants and Related Income Tax Benefit (Details) - Performance-based warrants - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Class of Warrant or Right [Line Items]      
Reduction to net sales $ 686 $ 1,997 $ 163
Income tax benefit $ 171 $ 498 $ 41