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Stock Plans - Recognized Share-based Compensation (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2017 | Dec. 31, 2016 | Dec. 31, 2015
Recognized share-based compensation |  |  |
Total | $ 24,396 | $ 15,713 | $ 18,000
Cost of sales |  |  |
Recognized share-based compensation |  |  |
Total | 2,505 | 1,956 | 2,495
Research and development |  |  |
Recognized share-based compensation |  |  |
Total | 2,957 | 3,324 | 4,031
Selling, general, and administrative |  |  |
Recognized share-based compensation |  |  |
Total | 12,851 | $ 10,433 | $ 11,474
Restructuring |  |  |
Recognized share-based compensation |  |  |
Total | 1,880 |  |
Acquisition costs |  |  |
Recognized share-based compensation |  |  |
Total | $ 4,203 |  |

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