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Stock-Based Compensation - Stock-based Compensation Expense and Related Income Tax Benefit (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2024 | Dec. 31, 2023 | Dec. 31, 2022
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total employee and director stock-based compensation expense | $ 6,700 | $ 8,809 | $ 10,013
Income tax benefit | 1,026 | 1,369 | 1,660
Cost of sales |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total employee and director stock-based compensation expense | 106 | 125 | 155
Research and development expenses |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Total employee and director stock-based compensation expense | 769 | 1,098 | 1,342
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 | 5,379 | 6,980 | 7,257
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 | $ 446 | $ 606 | $ 1,259

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