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Share-based compensation (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2019
Jun. 30, 2018
Jun. 30, 2019
Jun. 30, 2018
Share-based compensation        
Total $ 4,588 $ 4,904 $ 7,745 $ 9,441
Cost of sales        
Share-based compensation        
Total 595 536 1,065 1,090
Research and development        
Share-based compensation        
Total 982 1,065 1,775 2,019
Selling, general and administrative        
Share-based compensation        
Total $ 3,011 2,646 $ 4,905 5,503
Restructuring        
Share-based compensation        
Total   $ 657   $ 829
Restricted stock awards | Minimum        
Share-based compensation        
Expiration term     1 year  
Restricted stock awards | Maximum        
Share-based compensation        
Expiration term     5 years  
Stock options        
Number of Shares        
Outstanding at the beginning of the period (in shares)     1,222  
Expired or forfeited (in shares)     (69)  
Outstanding at the end of the period (in shares) 1,153   1,153  
Weighted Average Exercise Price        
Outstanding at the beginning of the period (in dollars per share)     $ 34.80  
Expired or forfeited (in dollars per share)     33.62  
Outstanding at the end of the period (in dollars per share) $ 34.87   $ 34.87  
Non-vested restricted shares and performance shares        
Number of Shares        
Outstanding at the beginning of the period (in shares)     2,218  
Granted (in shares)     1,035  
Performance award adjustments (in shares)     (1)  
Vested (in shares)     (589)  
Forfeited (in shares)     (97)  
Outstanding at the end of the period (in shares) 2,566   2,566  
Weighted Average Grant Date Fair Value        
Outstanding at the beginning of the period (in dollars per share)     $ 20.74  
Granted (in dollars per share)     11.41  
Performance award adjustments (in dollars per share)     25.23  
Vested (in dollars per share)     22.35  
Forfeited (in dollars per share)     21.79  
Outstanding at the end of the period (in dollars per share) $ 16.71   $ 16.71