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Inventories - Components of Inventories (Details) - USD ($)
$ in Thousands
Mar. 31, 2021
Dec. 31, 2020
Inventory Disclosure [Abstract]    
Raw materials $ 23,415 $ 16,003
Work in process 52,117 45,758
Finished goods 39,943 33,635
Total inventories $ 115,475 $ 95,396