Share-based Compensations - Recognized Share-based Compensation (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Recognized share-based compensation
Total share-based compensation expense	$ 3,237	$ 3,646
Cost of sales
Recognized share-based compensation
Total share-based compensation expense	495	521
Research and development
Recognized share-based compensation
Total share-based compensation expense	817	874
Selling, general and administrative
Recognized share-based compensation
Total share-based compensation expense	$ 1,925	$ 2,251
Restricted stock awards | Minimum
Share-based compensation
Expiration term	1 year
Restricted stock awards | Maximum
Share-based compensation
Expiration term	5 years