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Property and Equipment (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Property, Plant and Equipment, Net [Abstract]      
Property and equipment, gross $ 86,380 $ 75,274  
Accumulated depreciation (58,633) (53,812)  
Property and equipment, net 27,747 21,462  
Depreciation $ 6,583 5,867 $ 5,352
Minimum      
Property, Plant and Equipment [Line Items]      
Useful life (years) 2 years    
Maximum      
Property, Plant and Equipment [Line Items]      
Useful life (years) 12 years    
Computer hardware and software      
Property, Plant and Equipment, Net [Abstract]      
Property and equipment, gross $ 4,764 4,143  
Computer hardware and software | Minimum      
Property, Plant and Equipment [Line Items]      
Useful life (years) 3 years    
Computer hardware and software | Maximum      
Property, Plant and Equipment [Line Items]      
Useful life (years) 5 years    
Manufacturing and lab equipment      
Property, Plant and Equipment, Net [Abstract]      
Property and equipment, gross $ 59,395 50,797  
Manufacturing and lab equipment | Minimum      
Property, Plant and Equipment [Line Items]      
Useful life (years) 2 years    
Manufacturing and lab equipment | Maximum      
Property, Plant and Equipment [Line Items]      
Useful life (years) 7 years    
Office equipment and furniture      
Property, Plant and Equipment, Net [Abstract]      
Property and equipment, gross $ 1,462 1,127  
Office equipment and furniture | Minimum      
Property, Plant and Equipment [Line Items]      
Useful life (years) 5 years    
Office equipment and furniture | Maximum      
Property, Plant and Equipment [Line Items]      
Useful life (years) 7 years    
Leasehold improvements      
Property, Plant and Equipment, Net [Abstract]      
Property and equipment, gross $ 20,759 $ 19,207  
Leasehold improvements | Minimum      
Property, Plant and Equipment [Line Items]      
Useful life (years) 2 years    
Leasehold improvements | Maximum      
Property, Plant and Equipment [Line Items]      
Useful life (years) 12 years