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Stock-Based Compensation - Stock-based Compensation Expense and Related Income Tax Benefit (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2021 | Jun. 30, 2020 | Jun. 30, 2021 | Jun. 30, 2020
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Employee and director stock-based compensation expense | $ 2,444 | $ 2,291 | $ 5,044 | $ 4,594
Income tax benefit | 416 | 500 | 882 | 1,006
Cost of sales |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Employee and director stock-based compensation expense | 40 | 36 | 77 | 110
Research and development expenses |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Employee and director stock-based compensation expense | 318 | 288 | 631 | 524
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 | 1,705 | 1,557 | 3,573 | 3,140
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 | $ 381 | $ 410 | $ 763 | $ 820

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