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Income Taxes (Details 3) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Tax credit and operating loss carryforwards      
Unrecognized tax benefits, reduction of long-term deferred tax assets, before federal tax benefit $ 19,700 $ 18,600  
Unrecognized tax benefits included in long-term income taxes payable 2,200 2,200  
Portion of unrecognized tax benefits, which if recognized, would be recorded as an income tax benefit 2,200 2,200  
Amount of potential unrecognized tax benefit 200    
Reconciliation of the beginning and ending amounts of unrecognized income tax benefits      
Balance at the beginning of the period 20,836 19,903 $ 18,794
Tax positions related to current year:      
Additions 1,225 1,186 1,134
Tax positions related to prior years:      
Additions 256 0 531
Reductions (171) (35) (556)
Unrecognized Tax Benefits, Decrease Resulting from Settlements with Taxing Authorities (221) (218) 0
Balance at the end of the period 21,925 $ 20,836 $ 19,903
Undistributed earnings 6,700    
Alternative Minimum Tax Credits      
Tax credit and operating loss carryforwards      
Tax credit carryforwards 2,500    
Foreign Tax Credit      
Tax credit and operating loss carryforwards      
Tax credit carryforwards 120,300    
Federal      
Tax credit and operating loss carryforwards      
Tax credit carryforwards subject to expiration 55,000    
Federal | Research and Development as label      
Tax credit and operating loss carryforwards      
Tax credit carryforwards 36,500    
Federal | Excess Tax Benefits From Stock Option Tax Deductions      
Tax credit and operating loss carryforwards      
Tax credit carryforwards 38,200    
State and Local Jurisdiction [Member]      
Tax credit and operating loss carryforwards      
Operating Loss Carryforwards 99,700    
State and Local Jurisdiction [Member] | California Franchise Tax Board [Member]      
Tax credit and operating loss carryforwards      
Operating Loss Carryforwards 274,600    
Operating Loss Carryforwards, Expired 3,200    
Operating Loss Carryforwards, Expiring in the Future 64,500    
State and Local Jurisdiction [Member] | Research and Development as label      
Tax credit and operating loss carryforwards      
Tax credit carryforwards 24,700    
State and Local Jurisdiction [Member] | Excess Tax Benefits From Stock Option Tax Deductions      
Tax credit and operating loss carryforwards      
Operating Loss Carryforwards $ 98,200