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Share-based compensation - Compensation cost (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014
Share-based compensation |  |  |
Share-based compensation expense | $ 6,214 | $ 11,617 | $ 8,396
Unrecognized compensation costs | $ 9,977 |  |
Weighted-average service period over which unrecognized compensation costs will be recognized | 2 years 6 months 11 days |  |
Research and development expenses |  |  |
Share-based compensation |  |  |
Share-based compensation expense | $ 3,972 | 8,591 | 6,563
Selling, general and administrative expense |  |  |
Share-based compensation |  |  |
Share-based compensation expense | 2,242 | 3,026 | 1,833
Research and development, excluding 4D |  |  |
Share-based compensation |  |  |
Share-based compensation expense | 3,302 | 2,162 | 2,476
Share options |  |  |
Share-based compensation |  |  |
Share-based compensation expense | 5,187 | 10,469 | 7,966
Unrecognized compensation costs | $ 7,370 |  |
Weighted-average service period over which unrecognized compensation costs will be recognized | 2 years 9 months 22 days |  |
Restricted share units ("RSUs") |  |  |
Share-based compensation |  |  |
Share-based compensation expense | $ 528 | $ 1,148 | $ 430
Unrecognized compensation costs | $ 2,119 |  |
Weighted-average service period over which unrecognized compensation costs will be recognized | 1 year 9 months 15 days |  |
Performance share units ("PSUs") |  |  |
Share-based compensation |  |  |
Share-based compensation expense | $ 499 |  |
Unrecognized compensation costs | $ 488 |  |
Weighted-average service period over which unrecognized compensation costs will be recognized | 1 year 5 months 23 days |  |

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- Definition Represents the expense recognized during the period arising from equity-based compensation arrangements (for example, shares of stock, unit, stock options or other equity instruments) with employees, directors and certain consultants qualifying for treatment as employees. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -URI http://asc.fasb.org/extlink&oid=27013229&loc=d3e301413-122809 Reference 2: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 1 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5047-113901 Reference 3: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition Weighted average period over which unrecognized compensation is expected to be recognized for equity-based compensation plans, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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