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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