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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, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Employee and director stock-based compensation expense | $ 2,158 | $ 2,637 | $ 4,698 | $ 5,136
Income tax benefit | 209 | 440 | 480 | 868
Cost of sales |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Employee and director stock-based compensation expense | 26 | 40 | 62 | 79
Research and development expenses |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Employee and director stock-based compensation expense | 251 | 345 | 534 | 678
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 | 1,666 | 1,852 | 3,672 | 3,579
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 | $ 215 | $ 400 | $ 430 | $ 800

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