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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
$ in Thousands
 12 Months Ended 24 Months Ended
Mar. 09, 2016
vesting_period
Dec. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Dec. 31, 2019
USD ($)
Dec. 31, 2021
Dec. 31, 2019
Dec. 31, 2017
Class of Warrant or Right [Line Items]              
Reduction (addition) to net sales   $ (686) $ 686 $ 1,997      
Income tax benefit   $ (171) $ 171 $ 498      
Number of vesting periods | vesting_period 3            
Term of successive vesting periods 2 years 2 years     2 years 2 years 2 years