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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
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