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Common Stock and Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2021
Share-based Payment Arrangement [Abstract]  
Class of Treasury Stock We repurchased the following shares of common stock with cash resources:
Year Ended December 31,
202120202019
Shares of common stock repurchased429,446 774,489 317,429 
Cash paid for repurchases of common stock
$21,213 $34,999 $17,961 
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions The fair value of stock options granted to employees, directors, and consultants is estimated using the following assumptions:
Year Ended December 31,
202120202019
Risk-free interest rate
0.51% - 1.26%
0.37% - 1.65%
1.42% - 2.61%
Volatility
52.87% - 60.02%
54.89% - 55.51%
40.83%
Expected term (in years)
5.50 - 6.08 years
5.50 - 6.08 years
1.51 - 9.41 years
Expected dividend yield0.0%0.0%0.0%
Share-based Compensation Arrangement by Share-based Payment Award The following table summarizes information about stock option activity related to the 2014 Plan:
 Number of
 Stock
 Option
 Shares		Weighted
 Average
 Exercise
 Price (Per Share) 		Non-
 Exercisable		Exercisable
Outstanding at December 31, 20193,096,161 $59.29 1,070,054 2,026,107 
Granted762,200 $55.76 
Exercised(149,473)$24.43 
Forfeited or expired(376,998)$66.71 
Outstanding at December 31, 20203,331,890 $59.20 1,028,142 2,303,748 
Granted114,000 $46.74 
Exercised(122,847)$27.64 
Forfeited or expired(508,165)$62.00 
Outstanding at December 31, 20212,814,878 $58.51 472,916 2,341,962 
Schedule of Restricted Stock Unit Activity
The following table summarizes information about RSU activity related to the 2014 Plan:
 Number of
Restricted Stock Units		Weighted
 Average
 Grant Date Fair Value (Per Share)
Non-vested at December 31, 2019251,215 $44.84 
Granted236,450 $59.48 
Vested (79,420)$46.78 
Forfeited(79,849)$52.76 
Non-vested at December 31, 2020328,396 $53.09 
Granted106,600 $48.55 
Vested(95,523)$52.26 
Forfeited(76,167)$52.29 
Non-vested at December 31, 2021263,306 $51.77 
Schedule of Phantom Share Unit Activity The following table summarizes information about PSU activity related to the 2014 Plan:
 Number of
 Performance Stock Units		Weighted
 Average
Grant Date Fair Value (Per Share)
Non-vested at December 31, 2019116,181 $90.19 
Granted— $— 
Vested— $— 
Forfeited (18,431)$90.19 
Non-vested at December 31, 202097,750 $90.19 
Granted159,000 $62.94 
Vested— $— 
Forfeited(119,450)$84.90 
Non-vested at December 31, 2021137,300 $63.24 
Schedule of Share-based Compensation Cost The Company recognized stock-based compensation in its consolidated statements of operations for the year ended December 31, 2021, 2020, and 2019 as follows:
Year Ended December 31,
202120202019
Stock options $11,521 $17,694 $16,394 
PSUs2,729 1,635 3,062 
RSUs5,305 5,427 2,542 
Stock-based compensation expense $19,555 $24,756 $21,998 
Selling, general and administrative$16,873 $22,074 $17,556 
Research and development2,682 2,682 4,442 
Stock-based compensation expense$19,555 $24,756 $21,998