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Summary of Significant Accounting Policies - Stock-Based Compensation (Details) - USD ($) $ / shares in Units, $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2018 | Jun. 30, 2017 | Jun. 30, 2018 | Jun. 30, 2017
Employee stock-based awards |  |  |  |
Weighted Average Common Shares Outstanding-Basic (in shares) | 285,984,000 | 264,217,000 | 285,622,000 | 264,036,000
Stock-based compensation | $ 8,689 | $ 8,543 | $ 16,073 | $ 15,092
Stock-based compensation expense (income), net of tax | $ 8,032 | $ 5,945 | $ 14,865 | $ 10,530
Stock-based compensation expense per basic and diluted share (in dollars per share) | $ 0.03 | $ 0.02 | $ 0.05 | $ 0.04
Share-Based Compensation, aggregate disclosures |  |  |  |
Employee stock-based awards, unrecognized compensation costs on nonvested awards | $ 57,429 |  | $ 57,429 |
Employee stock-based awards, unrecognized compensation costs on nonvested awards, weighted average period of recognition |  |  | 2 years 2 months 1 day |
Continuing Operations |  |  |  |
Employee stock-based awards |  |  |  |
Stock-based compensation | 8,689 | $ 8,543 | $ 16,073 | $ 15,092
Continuing Operations | Cost of sales (excluding depreciation and amortization) |  |  |  |
Employee stock-based awards |  |  |  |
Stock-based compensation | 29 | 27 | 58 | 55
Continuing Operations | Selling, general and administrative expenses |  |  |  |
Employee stock-based awards |  |  |  |
Stock-based compensation | $ 8,660 | 8,516 | $ 16,015 | 15,037
Stock Options |  |  |  |
Summary of option activity |  |  |  |
Options outstanding balance, beginning of period (in shares) |  |  | 3,671,740 |
Options granted (in shares) |  |  | 846,517 |
Options exercised (in shares) |  |  | (118,304) |
Options forfeited (in shares) |  |  | (23,334) |
Options expired (in shares) |  |  | (4,260) |
Options outstanding balance, end of period (in shares) | 4,372,359 |  | 4,372,359 |
Options exercisable balance (in shares) | 2,409,054 |  | 2,409,054 |
Options expected to vest (in shares) | 1,844,046 |  | 1,844,046 |
Performance units |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options |  |  |  |
Non-vested at the beginning of the period (in shares) |  |  | 467,811 |
Granted (in shares) |  |  | 353,507 |
Vested (in shares) |  |  | (79,121) |
Forfeited (in shares) |  |  | (62,249) |
Non-vested at the end of the period (in shares) | 679,948 |  | 679,948 |
Weighted average grant date fair value |  |  |  |
Total fair value of shares or units vested | $ 0 | 0 | $ 3,033 | 905
Performance units | Two Thousand Sixteen [Member] [Member] |  |  |  |
Performance units disclosure |  |  |  |
Percentage of achievement of the predefined revenue and ROIC targets | 85.00% |  | 85.00% |
Performance units | Two Thousand Seventeen [Member] |  |  |  |
Performance units disclosure |  |  |  |
Percentage of achievement of the predefined revenue and ROIC targets | 100.00% |  | 100.00% |
Performance units | Two Thousand Eighteen [Member] |  |  |  |
Performance units disclosure |  |  |  |
Percentage of achievement of the predefined revenue and ROIC targets | 100.00% |  | 100.00% |
Performance units | Revenue or revenue growth and return on invested capital |  |  |  |
Performance units disclosure |  |  |  |
Performance period |  |  | 3 years |
Performance units | Minimum | Revenue or revenue growth and return on invested capital |  |  |  |
Performance units disclosure |  |  |  |
Percentage payout rate | 0.00% |  | 0.00% |
Performance units | Minimum | Market condition associated with shareholder return of common stock |  |  |  |
Performance units disclosure |  |  |  |
Percentage payout rate | 0.00% |  | 0.00% |
Performance units | Maximum | Revenue or revenue growth and return on invested capital |  |  |  |
Performance units disclosure |  |  |  |
Percentage payout rate | 200.00% |  | 200.00% |
Performance units | Maximum | Market condition associated with shareholder return of common stock |  |  |  |
Performance units disclosure |  |  |  |
Percentage payout rate | 200.00% |  | 200.00% |
Original PU Awards |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options |  |  |  |
Non-vested at the beginning of the period (in shares) |  |  | 717,878 |
Granted (in shares) |  |  | 353,507 |
Vested (in shares) |  |  | (79,121) |
Forfeited (in shares) |  |  | (12,368) |
Non-vested at the end of the period (in shares) | 979,896 |  | 979,896 |
PUs Adjustment |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options |  |  |  |
Non-vested at the beginning of the period (in shares) |  |  | (250,067) |
Granted (in shares) |  |  | 0 |
Vested (in shares) |  |  | 0 |
Forfeited (in shares) |  |  | (49,881) |
Non-vested at the end of the period (in shares) | (299,948) |  | (299,948) |
Restricted Stock Units |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options |  |  |  |
Non-vested at the beginning of the period (in shares) |  |  | 1,071,469 |
Granted (in shares) |  |  | 701,259 |
Vested (in shares) |  |  | (455,224) |
Forfeited (in shares) |  |  | (53,080) |
Non-vested at the end of the period (in shares) | 1,264,424 |  | 1,264,424 |
Weighted average grant date fair value |  |  |  |
Total fair value of shares or units vested | $ 676 | $ 2,047 | $ 16,006 | $ 16,073

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