Income Taxes - Significant Components of Deferred Tax Assets (Details) - USD ($)	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets (liabilities):
Deferred revenues	$ 11,343,000	$ 13,514,000
Share-based compensation	11,763,000	12,064,000
Inventory-related items	5,136,000	4,567,000
Tax credit carryforwards	12,505,000	12,173,000
Reserves and accruals	5,660,000	6,244,000
Loss carryforwards	7,802,000	10,255,000
Lease liability	11,457,000	12,884,000
Convertible debt	9,649,000	15,037,000
Capitalized research and development	41,635,000	30,881,000
Other, net	591,000	1,557,000
Gross deferred tax assets	117,541,000	119,176,000
Valuation allowance	0	0
Total net deferred tax assets	117,541,000	119,176,000
Intangibles	(30,366,000)	(36,357,000)
Depreciation and amortization	(35,402,000)	(37,286,000)
Prepaid expenses	(13,858,000)	(15,574,000)
Right-of-use assets	(6,626,000)	(9,725,000)
Other, net	(8,000)	0
Total deferred tax liabilities	(86,260,000)	(98,942,000)
Net deferred tax assets	$ 31,281,000	$ 20,234,000