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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, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Employee and director stock-based compensation expense | $ 1,460 | $ 2,158 | $ 3,364 | $ 4,698
Income tax benefit | 220 | 337 | 507 | 747
Cost of sales |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Employee and director stock-based compensation expense | 20 | 26 | 47 | 62
Research and development expenses |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |
Employee and director stock-based compensation expense | 142 | 251 | 373 | 534
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 | 1,204 | 1,666 | 2,755 | 3,672
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 | $ 94 | $ 215 | $ 189 | $ 430

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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 -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -Publisher FASB -URI https://asc.fasb.org/1943274/2147479830/718-10-S99-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -Publisher FASB -URI https://asc.fasb.org/1943274/2147480429/718-10-50-2 + Details
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