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Share-based compensation (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2015
Sep. 30, 2014
Sep. 30, 2015
Sep. 30, 2014
Weighted Average Grant Date Fair Value        
Total share-based compensation expense $ 5,119 $ 4,490 $ 14,038 $ 14,303
Cost of Sales        
Weighted Average Grant Date Fair Value        
Total share-based compensation expense 787 619 2,102 1,799
Selling, General and Administrative Expenses        
Weighted Average Grant Date Fair Value        
Total share-based compensation expense 3,288 2,766 9,197 9,191
Research and Development Expense.        
Weighted Average Grant Date Fair Value        
Total share-based compensation expense $ 1,044 $ 1,105 $ 2,739 $ 3,313
Restricted Stock Awards        
Restricted stock awards including restricted stock units, Shares        
Outstanding at the beginning of the period (in shares)     1,237  
Granted (in shares)     640  
Vested (in shares)     (248)  
Forfeited (in shares)     (65)  
Outstanding at the end of the period (in shares) 1,564   1,564  
Weighted Average Grant Date Fair Value        
Outstanding at the beginning of the period (in dollars per share)     $ 34.27  
Grants (in dollars per share)     30.85  
Vested/released (in dollars per share)     37.95  
Forfeitures (in dollars per share)     35.80  
Outstanding at the end of the period (in dollars per share) $ 32.22   $ 32.22  
Restricted Stock Awards | Minimum        
Weighted Average Grant Date Fair Value        
Expiration term     1 year  
Restricted Stock Awards | Maximum        
Weighted Average Grant Date Fair Value        
Expiration term     5 years  
Stock options        
Stock option awards, Shares        
Outstanding at the beginning of the period (in shares)     2,391  
Granted (in shares)     16  
Exercised (in shares)     (92)  
Expired or forfeited (in shares)     (119)  
Outstanding at the end of the period (in shares) 2,196   2,196  
Weighted Average Exercise price        
Outstanding at the beginning of the period (in dollars per share)     $ 31.65  
Grants (in dollars per share)     30.22  
Exercised (in dollars per share)     17.44  
Expired or forfeited (in dollars per share)     38.63  
Outstanding at the end of the period (in dollars per share) $ 31.86   $ 31.86