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Stock Plans - Recognized Share-based Compensation (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2018 | Dec. 31, 2017 | Dec. 31, 2016
Recognized share-based compensation |  |  |
Total | $ 16,074 | $ 24,396 | $ 15,713
Cost of sales |  |  |
Recognized share-based compensation |  |  |
Total | 1,885 | 2,505 | 1,956
Research and development |  |  |
Recognized share-based compensation |  |  |
Total | 3,611 | 2,957 | 3,324
Selling, general and administrative |  |  |
Recognized share-based compensation |  |  |
Total | 9,417 | 12,851 | $ 10,433
Restructuring |  |  |
Recognized share-based compensation |  |  |
Total | $ 1,161 | 1,880 |
Acquisition costs |  |  |
Recognized share-based compensation |  |  |
Total |  | $ 4,203 |

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