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Commitments and Contingencies - Warranty (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Accrued Warranty      
Warranty period of products purchased 1 year    
Balance as of the beginning of the year $ 5,411 $ 5,662 $ 4,942
Addition for new warranties issued 7,873 3,484 5,291
Addition from PSP acquisition   809  
Settlements (3,551) (3,802) (5,580)
Changes in estimate (1,574) (742) 1,009
Balance as of the end of the year $ 8,159 $ 5,411 $ 5,662