Equity - Recognized Stock-Based Compensation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share-based Payment Arrangement, Noncash Expense [Abstract]
Total share-based compensation	$ 12,666	$ 14,757	$ 15,357
Income tax benefit, before consideration of valuation allowance	(3,132)	(3,649)	(3,792)
Total share-based compensation, net of tax benefit	9,533	11,108	11,565
Cost of sales
Share-based Payment Arrangement, Noncash Expense [Abstract]
Total share-based compensation	1,213	813	520
Selling, general and administrative expenses
Share-based Payment Arrangement, Noncash Expense [Abstract]
Total share-based compensation	9,578	13,108	14,549
Research and development expense
Share-based Payment Arrangement, Noncash Expense [Abstract]
Total share-based compensation	$ 1,875	$ 836	$ 288