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Stock-Based Compensation - Stock-based Compensation Expense and Related Income Tax Benefit (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2022 | Sep. 30, 2021 | Sep. 30, 2022 | Sep. 30, 2021
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Employee and director stock-based compensation expense | $ 2,439 | $ 2,472 | $ 7,575 | $ 7,516
Income tax benefit | 397 | 420 | 1,265 | 1,302
Cost of sales |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Employee and director stock-based compensation expense | 38 | 39 | 117 | 116
Research and development expenses |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Employee and director stock-based compensation expense | 326 | 321 | 1,004 | 952
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 | 1,842 | 1,712 | 5,421 | 5,285
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 | $ 233 | $ 400 | $ 1,033 | $ 1,163

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Amount of tax benefit for recognition of expense of award under share-based payment arrangement. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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