Capital Structure - Stock-based Compensation (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract]
Total stock-based compensation expense	$ 964	$ 2,345	$ 2,891	$ 5,066
Tax benefit	190	440	567	937
Stock-based compensation cost related to non-vested equity awards not yet recognized as an expense	8,100		$ 8,100
Weighted-average period over which stock-based compensation cost related to non-vested equity awards is expected to be recognized			2 years
Stock options
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract]
Total stock-based compensation expense	446	893	$ 1,240	1,848
Restricted stock awards
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract]
Total stock-based compensation expense	509	1,329	1,387	3,039
Performance Based Cash Units
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract]
Total stock-based compensation expense	9	123	264	179
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			1 year 1 month 6 days
Cost of revenues
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract]
Total stock-based compensation expense	139	379	$ 360	857
Research and development
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract]
Total stock-based compensation expense	316	696	872	1,551
Selling, general and administrative
Employee Service Share-based Compensation, Aggregate Disclosures [Abstract]
Total stock-based compensation expense	$ 509	$ 1,270	$ 1,659	$ 2,658