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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, 2021 | Mar. 31, 2020
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Employee and director stock-based compensation expense | $ 2,600 | $ 2,303
Income tax benefit | 466 | 506
Cost of sales |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Employee and director stock-based compensation expense | 37 | 74
Research and development expenses |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |
Employee and director stock-based compensation expense | 313 | 236
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 | 1,868 | 1,583
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 | $ 382 | $ 410

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