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Stock Plans - Recognized Share-based Compensation (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014
Recognized share-based compensation |  |  |
Total | $ 15,713 | $ 18,000 | $ 18,813
Cost of sales |  |  |
Recognized share-based compensation |  |  |
Total | 1,956 | 2,495 | 2,456
Research and development |  |  |
Recognized share-based compensation |  |  |
Total | 3,324 | 4,031 | 4,498
Selling, general, and administrative |  |  |
Recognized share-based compensation |  |  |
Total | $ 10,433 | $ 11,474 | $ 11,859

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