Equity - Recognized Stock-Based Compensation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Share-based Payment Arrangement, Noncash Expense [Abstract]
Share-based compensation expense	$ 15,357	$ 12,064	$ 14,768
Income tax benefit	(3,792)	(3,081)	(3,803)
Total share-based compensation, net of tax benefit	11,565	8,983	10,965
Cost of sales
Share-based Payment Arrangement, Noncash Expense [Abstract]
Share-based compensation expense	520	477	705
Research and development
Share-based Payment Arrangement, Noncash Expense [Abstract]
Share-based compensation expense	288	265	584
Selling, general and administrative
Share-based Payment Arrangement, Noncash Expense [Abstract]
Share-based compensation expense	$ 14,549	$ 11,322	$ 13,479