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