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Stock-Based Compensation - Stock-Based Compensation Expense (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]      
Total employee and director stock-based compensation expense $ 9,969 $ 9,122 $ 8,845
Income tax benefit 1,718 1,594 1,877
Cost of sales      
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]      
Total employee and director stock-based compensation expense 156 182 139
Research and development expenses      
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]      
Total employee and director stock-based compensation expense 1,253 1,099 1,096
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 6,997 6,257 6,431
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 $ 1,563 $ 1,584 $ 1,179