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Stock-Based Compensation (Tables)
12 Months Ended
Dec. 31, 2015
Stock-Based Compensation [Abstract]  
Schedule of Stock-Based Compensation Expense

The consolidated statements of operations for the years ended December 31, 2015, 2014 and 2013 include the following stock-based compensation expense related to stock option awards, restricted stock, restricted stock unit awards and the employee stock purchase plan (in thousands):

   2015 2014 2013
Cost of sales $ 2,590 $ 2,732 $ 2,523
Selling and administrative expenses   26,431   26,128   25,252
Research and development expenses   4,347   4,138   3,933
 Total stock-based compensation $ 33,368 $ 32,998 $ 31,708
Relevant Data Used to Determine the Value of Stock Options Granted During the Period

The relevant data used to determine the value of the stock options granted during 2015, 2014 and 2013 are as follows:

Options Issued and Significant Assumptions Used to Estimate Option Fair Values 2015 2014 2013
Options issued in thousands 673 569 428
Risk-free interest rate 1.8% 1.6% 1.7%
Expected life in years 6 6 5
Expected volatility 0.257 0.266 0.248
Expected dividends  -  -  -

Weighted-Average Exercise Price and Fair Value of Options on the Date of Grant 2015 2014 2013
Exercise price $ 127.63 $ 112.56 $ 97.74
Fair value $ 35.84 $ 32.61 $ 27.37
Stock Options Outstanding Roll Forward

The following table summarizes stock option activity for the plans for the year ended December 31, 2015 (in thousands, except per share data):

    Number of Shares Exercise Price per Share Weighted-Average Exercise Price
Outstanding at December 31, 2014 3,280 $37.84to$113.36 $82.85
 Granted 673 $113.88to$134.37 $127.63
 Exercised (727) $37.84to$98.21 $64.05
 Canceled (72) $79.05to$87.06 $83.25
Outstanding at December 31, 2015 3,154 $38.09to$134.37 $96.73
Stock Options Outstanding by Exercise Price Range

The following table details the options outstanding at December 31, 2015 by range of exercise prices (in thousands, except per share data):

           Remaining     
      Number  Weighted- Contractual Number  Weighted-
      of Shares  Average Life of Options of Shares  Average
Exercise Price Range Outstanding  Exercise Price Outstanding Exercisable  Exercise Price
$ 38.09to$ 79.99  1,059 $ 72.78  4.7  932 $ 71.97
$ 80.00to$ 113.36  1,423 $ 99.93  8.0  553 $ 95.44
$ 113.37to$ 134.37  672 $ 127.70  10.0  - $ -
  Total  3,154 $ 96.73  7.3  1,485 $ 80.71
Restricted Stock Units Unvested Roll Forward

The following table summarizes the unvested restricted stock unit award activity for the year ended December 31, 2015 (in thousands, except for per share amounts):

   Shares Weighted-Average Price
Unvested at December 31, 2014 533 $94.38
 Granted 150 $119.46
 Vested (172) $87.44
 Forfeited (14) $101.17
Unvested at December 31, 2015  497 $104.16