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Share-based compensation (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2019 | Sep. 30, 2018 | Sep. 30, 2019 | Sep. 30, 2018
Share-based compensation |  |  |  |
Total | $ 3,783 | $ 3,279 | $ 11,528 | $ 12,720
Cost of sales |  |  |  |
Share-based compensation |  |  |  |
Total | 383 | 513 | 1,448 | 1,603
Research and development |  |  |  |
Share-based compensation |  |  |  |
Total | 756 | 709 | 2,531 | 2,728
Selling, general and administrative |  |  |  |
Share-based compensation |  |  |  |
Total | $ 2,644 | 1,890 | $ 7,549 | 7,393
Restructuring |  |  |  |
Share-based compensation |  |  |  |
Total |  | $ 167 |  | $ 996
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) |  |  | 1,048 |
Performance award adjustments (in shares) |  |  | (25) |
Vested (in shares) |  |  | (721) |
Forfeited (in shares) |  |  | (176) |
Outstanding at the end of the period (in shares) | 2,344 |  | 2,344 |
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) |  |  | 28.91 |
Vested (in dollars per share) |  |  | 22.29 |
Forfeited (in dollars per share) |  |  | 19.41 |
Outstanding at the end of the period (in dollars per share) | $ 16.02 |  | $ 16.02 |

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- Definition The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(3) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(3) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(i)-(ii) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(i)-(ii) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(2) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(2) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(3)-(4) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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