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Employee Benefit Plans and Stockholders' Equity - Share-based Compensation Expenses (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Share-based compensation expense included in operating expenses | $ 102.7 | $ 101.9 | $ 106.2
Cost of sales |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Share-based compensation expense included in operating expenses | 9.0 | 9.2 | 9.6
Research and development |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Share-based compensation expense included in operating expenses | 33.5 | 33.0 | 37.5
Selling, general and administrative |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |
Share-based compensation expense included in operating expenses | $ 60.2 | $ 59.7 | $ 59.1

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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. + References No definition available. + Details
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