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Stock Plans - Share-based Compensation and Option Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands | 12 Months Ended
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Dec. 31, 2015 | Dec. 31, 2014 | Dec. 31, 2013
Options Exercisable |  |  |
Shares | 1,609 |  |
Weighted-Average Exercise Price (in dollars per share) | $ 32.95 |  |
Recognized share-based compensation |  |  |
Share-based compensation expense before tax | $ 18,000 | $ 18,813 | $ 13,132
Income tax benefit | (6,048) | (6,011) | (4,367)
Net share-based compensation expense | 11,952 | 12,802 | 8,765
Cost of Sales |  |  |
Recognized share-based compensation |  |  |
Share-based compensation expense before tax | 2,495 | 2,456 | 1,446
Selling, General and Administrative Expenses |  |  |
Recognized share-based compensation |  |  |
Share-based compensation expense before tax | 11,474 | 11,859 | 8,339
Research and Development Expense |  |  |
Recognized share-based compensation |  |  |
Share-based compensation expense before tax | $ 4,031 | $ 4,498 | $ 3,347
Stock Options |  |  |
Stock option awards, Shares |  |  |
Outstanding at the beginning of the period (in shares) | 2,391 | 2,598 | 2,322
Granted (in shares) | 17 | 509 | 539
Exercised (in shares) | (192) | (561) | (149)
Expired or forfeited (in shares) | (152) | (155) | (114)
Outstanding at the end of the period (in shares) | 2,064 | 2,391 | 2,598
Weighted Average Exercise price |  |  |
Outstanding at the beginning of the period (in dollars per share) | $ 31.65 | $ 29.98 | $ 28.63
Granted (in dollars per share) | 30.22 | 33.05 | 32.68
Exercised (in dollars per share) | 12.95 | 23.88 | 14.74
Expired or terminated (in dollars per share) | 38.15 | 36.22 | 35.22
Outstanding at the end of the period (in dollars per share) | $ 32.91 | $ 31.65 | $ 29.98

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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 Reference 4: http://www.xbrl.org/2003/role/presentationRef -Publisher SEC -Name Staff Accounting Bulletin (SAB) -Number Topic 14 -Section F + Details
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- Definition The amount of expense, net of income tax, 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 No definition available. + Details
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- Definition For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired. + 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 (c)(1)(iv)(3)-(4) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition Weighted average price of options that were either forfeited or expired. + 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 (c)(1)(iv)(3)-(4) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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