custom taxonomy – listing parents first

I’m using the code below to list my custom taxonomy.

<?php
    $terms_as_text = get_the_term_list( $post->ID, 'Skills', '', ', ', '' ) ;
    echo strip_tags($terms_as_text);
?>

I’d like it so the parent category gets displayed first, followed by a pipe, and then followed by the child categories separated by commas like so:

Illustration | Charcoal, Pen, Watercolor

Is this possible?