Stockholders' Equity - Stock-based Compensation (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract]
Total stock-based compensation expense	$ 2,289	$ 4,391	$ 7,355	$ 14,547
Tax benefit	420	604	1,357	2,192
Stock-based compensation cost related to non-vested equity awards not yet recognized as an expense	10,900		$ 10,900
Weighted-average period over which stock-based compensation cost related to non-vested equity awards is expected to be recognized			1 year 3 months 18 days
Stock options
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract]
Total stock-based compensation expense	1,064	1,701	$ 2,912	5,289
Restricted stock awards
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract]
Total stock-based compensation expense	1,373	2,626	4,412	8,922
Performance Based Cash Units
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract]
Total stock-based compensation expense	(148)	64	31	336
Stock-based compensation cost related to non-vested equity awards not yet recognized as an expense	500		$ 500
Weighted-average period over which stock-based compensation cost related to non-vested equity awards is expected to be recognized			2 years 2 months 12 days
Cost of revenues
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract]
Total stock-based compensation expense	432	505	$ 1,289	1,899
Research and development
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract]
Total stock-based compensation expense	725	890	2,276	3,392
Selling, general and administrative
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract]
Total stock-based compensation expense	$ 1,132	$ 2,996	$ 3,790	$ 9,256