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Stock-Based Compensation - Stock-Based Compensation Expense (Details) - USD ($)
$ in Thousands
 12 Months Ended
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