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Stock-Based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total employee and director stock-based compensation expense | $ 8,809 | $ 10,013 | $ 9,969
Income tax benefit | 1,369 | 1,660 | 1,718
Cost of sales |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total employee and director stock-based compensation expense | 125 | 155 | 156
Research and development expenses |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total employee and director stock-based compensation expense | 1,098 | 1,342 | 1,253
Selling, general and administrative expenses | Employees |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total employee and director stock-based compensation expense | 6,980 | 7,257 | 6,997
Selling, general and administrative expenses | Outside directors |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total employee and director stock-based compensation expense | $ 606 | $ 1,259 | $ 1,563

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