Stock-Based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	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