Equity Incentive Plans - Allocation of Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended	6 Months Ended
Jun. 30, 2020	Jun. 30, 2019	Jun. 30, 2020	Jun. 30, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total compensation expense before income tax	$ 4,216	$ 3,601	$ 6,403	$ 5,386
Income tax benefit	849	746	1,312	1,136
Total compensation expense, net of income tax	3,367	2,855	5,091	4,250
Cost of goods sold
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total compensation expense before income tax	403	194	628	361
Selling, general and administrative
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total compensation expense before income tax	3,575	3,174	5,289	4,641
Research and development
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Total compensation expense before income tax	$ 238	$ 233	$ 486	$ 384

Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 1
-Subparagraph (b)
-URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5047-113901

Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section S99
-Paragraph 1
-Subparagraph (SAB Topic 14.F)
-URI http://asc.fasb.org/extlink&oid=115993241&loc=d3e301413-122809

Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
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-URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901

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-Section 50
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