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Stock-Based Compensation - Schedule of Stock-Based Compensation Expense and Related Income Tax Benefit (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2025
Jun. 30, 2024
Jun. 30, 2025
Jun. 30, 2024
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Total employee and director stock-based compensation expense $ 1,649 $ 1,460 $ 3,433 $ 3,364
Income tax benefit 185 220 432 507
Cost of sales        
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Total employee and director stock-based compensation expense 12 20 28 47
Research and development expenses        
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Total employee and director stock-based compensation expense 124 142 282 373
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 1,217 1,204 2,493 2,755
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 $ 296 $ 94 $ 630 $ 189