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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, 2020	Sep. 30, 2019	Sep. 30, 2020	Sep. 30, 2019
Share-based compensation
Non-cash share based compensation	$ 2,942	$ 3,783	$ 9,562	$ 11,528
Cost of sales
Share-based compensation
Non-cash share based compensation	389	383	1,384	1,448
Research and development
Share-based compensation
Non-cash share based compensation	674	756	2,161	2,531
Selling, general and administrative
Share-based compensation
Non-cash share based compensation	$ 1,879	$ 2,644	$ 6,017	$ 7,549
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)			1,119
Expired or forfeited (in shares)			(339)
Outstanding at the end of the period (in shares)	780		780
Weighted Average Exercise Price
Outstanding at the beginning of the period (in dollars per share)			$ 34.88
Expired or forfeited (in dollars per share)			33.94
Outstanding at the end of the period (in dollars per share)	$ 35.28		$ 35.28
Non-vested restricted shares and performance shares
Number of Shares
Outstanding at the beginning of the period (in shares)			2,257
Granted (in shares)			1,006
Performance award adjustments (in shares)			(51)
Vested (in shares)			(775)
Forfeited (in shares)			(366)
Outstanding at the end of the period (in shares)	2,071		2,071
Weighted Average Grant Date Fair Value
Outstanding at the beginning of the period (in dollars per share)			$ 16.20
Granted (in dollars per share)			9.40
Performance award adjustments (in dollars per share)			30.94
Vested (in dollars per share)			15.97
Forfeited (in dollars per share)			15.38
Outstanding at the end of the period (in dollars per share)	$ 12.76		$ 12.76

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Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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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.

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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).

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Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

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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.

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Weighted average price of options that were either forfeited or expired.

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