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Stock Plans - Recognized Share-based Compensation (Details) - USD ($)
$ in Thousands
12 Months Ended
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