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Stockholders' equity, share-based compensation arrangements by share-based payment award (Details) - USD ($) |  | 12 Months Ended |
--- | --- | --- | ---
May 19, 2016 | Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014 | Dec. 31, 2013 | Jul. 14, 2016
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Stock-based compensation expense |  | $ 18,477,000 | $ 15,848,000 | $ 12,829,000 |  |
Aggregate intrinsic value [Abstract] |  |  |  |  |  |
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Period for Recognition |  | 1 year 10 months 10 days |  |  |  |
Employee Service Share-based Compensation, Nonvested Awards, Compensation Not yet Recognized, Stock Options |  | $ 18,000,000 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized | 3,800,000 |  |  |  |  |
Stock Repurchase Program, Authorized Amount |  |  |  |  |  | $ 50,000,000
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |  |  |
Total stock-based compensation expense |  | 18,477,000 | 15,848,000 | 12,829,000 |  |
Continuing Operations [Member] |  |  |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |  |  |
Total stock-based compensation expense |  | 17,356,000 | 14,741,000 | 11,754,000 |  |
Discontinued Operations [Member] |  |  |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |  |  |
Total stock-based compensation expense |  | 1,121,000 | 1,107,000 | 1,075,000 |  |
Stock Options [Member] |  |  |  |  |  |
Aggregate Intrinsic Value [Abstract] |  |  |  |  |  |
Outstanding, beginning of period |  | 52,119,607 |  |  |  |
Outstanding, end of period |  | 25,348,245 | $ 52,119,607 |  |  |
Exercisable, end of period |  | 19,938,451 |  |  |  |
Options expected to vest, end of period |  | $ 4,565,548 |  |  |  |
Aggregate intrinsic value [Abstract] |  |  |  |  |  |
Weighted average remaining contractual term of options outstanding |  | 4 years | 4 years 4 months 24 days |  |  |
Weighted average remaining contractual term of options exercisable |  | 3 years 2 months 12 days | 3 years 4 months 24 days |  |  |
Weighted average grant date fair value of options granted (in dollars per share) |  | $ 9.24 | $ 8.66 |  | $ 8.84 |
Total intrinsic value of options exercised |  | $ 15,600,000 | $ 20,200,000 | 7,500,000 |  |
Total fair value of awards vested |  | $ 16,900,000 | $ 14,400,000 | 12,300,000 |  |
2006 Plan [Member] | Stock Options [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Common stock authorized for issuance under the plan (in shares) |  | 18,900,000 |  |  |  |
Options outstanding [Roll Forward] |  |  |  |  |  |
Outstanding, beginning of period (in shares) |  | 2,964,237 |  |  |  |
Granted (in shares) |  | 411,698 |  |  |  |
Exercised (in shares) |  | (809,638) |  |  |  |
Forfeited (in shares) |  | (96,293) |  |  |  |
Cancelled (in shares) |  | (146,986) |  |  |  |
Equitable adjustment (in shares) |  | 236,313 |  |  |  |
Outstanding, end of period (in shares) |  | 2,559,331 | 2,964,237 |  |  |
Exercisable, end of period (in shares) |  | 1,504,855 |  |  |  |
Options expected to vest, end of period (in shares) |  | 849,184 |  |  |  |
Weighted-Average Exercise Price [Roll Forward] |  |  |  |  |  |
Outstanding, beginning of period (in dollars per share) |  | $ 22.73 |  |  |  |
Granted (in dollars per share) |  | 33.61 |  |  |  |
Exercised (in dollars per share) |  | 19.41 |  |  |  |
Forfeited (in dollars per share) |  | 26.67 |  |  |  |
Cancelled (in dollars per share) |  | 28.33 |  |  |  |
Equitable adjustment (in dollars per share) |  | 22.90 |  |  |  |
Outstanding, end of period (in dollars per share) |  | 22.94 | $ 22.73 |  |  |
Exercisable, end of period (in dollars per share) |  | 19.59 |  |  |  |
Options expected to vest, end of period (in dollars per share) |  | $ 27.46 |  |  |  |
2006 Plan [Member] | Restricted Stock Units (RSUs) [Member] |  |  |  |  |  |
Restricted stock unit award activity [Roll Forward] |  |  |  |  |  |
Outstanding, beginning of period (in shares) |  | 889,004 |  |  |  |
Granted (in shares) |  | 515,782 |  |  |  |
Vested (in shares) |  | (420,599) |  |  |  |
Forfeited (in shares) |  | (80,428) |  |  |  |
Cancelled (in shares) |  | (107,514) |  |  |  |
Equitable adjustment (in shares) |  | 79,339 |  |  |  |
Outstanding, end of period (in shares) |  | 875,584 | 889,004 |  |  |
Weighted-Average Grant Price [Roll Forward] |  |  |  |  |  |
Outstanding, beginning of period (in dollars per share) |  | $ 26.86 |  |  |  |
Granted (in dollars per share) |  | 34.00 |  |  |  |
Vested (in dollars per share) |  | 24.68 |  |  |  |
Forfeited (in dollars per share) |  | 29.40 |  |  |  |
Cancelled (in dollars per share) |  | 30.90 |  |  |  |
Equitable adjustment (in dollars per share) |  | 28.86 |  |  |  |
Outstanding, end of period (in dollars per share) |  | $ 28.94 | $ 26.86 |  |  |
Aggregate intrinsic value [Abstract] |  |  |  |  |  |
Outstanding, beginning of period |  | $ 35,569,048 |  |  |  |
Outstanding, end of period |  | $ 28,754,179 | $ 35,569,048 |  |  |
2004 Plan [Member] | Stock Options [Member] |  |  |  |  |  |
Options outstanding [Roll Forward] |  |  |  |  |  |
Outstanding, beginning of period (in shares) |  | 29,699 |  |  |  |
Granted (in shares) |  | 0 |  |  |  |
Exercised (in shares) |  | (29,699) |  |  |  |
Forfeited (in shares) |  | 0 |  |  |  |
Outstanding, end of period (in shares) |  | 0 | 29,699 |  |  |
Exercisable, end of period (in shares) |  | 0 |  |  |  |
Options expected to vest, end of period (in shares) |  | 0 |  |  |  |
Weighted-Average Exercise Price [Roll Forward] |  |  |  |  |  |
Outstanding, beginning of period (in dollars per share) |  | $ 10.28 |  |  |  |
Granted (in dollars per share) |  | 0 |  |  |  |
Exercised (in dollars per share) |  | 10.28 |  |  |  |
Forfeited (in dollars per share) |  | 0 |  |  |  |
Outstanding, end of period (in dollars per share) |  | 0 | $ 10.28 |  |  |
Exercisable, end of period (in dollars per share) |  | 0 |  |  |  |
Options expected to vest, end of period (in dollars per share) |  | $ 0 |  |  |  |
Cost of Product Sales [Member] | Continuing Operations [Member] |  |  |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |  |  |
Total stock-based compensation expense |  | $ 997,000 | $ 1,183,000 | 1,145,000 |  |
Research and Development [Member] | Continuing Operations [Member] |  |  |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |  |  |
Total stock-based compensation expense |  | 2,297,000 | 2,324,000 | 2,779,000 |  |
Selling, General and Administrative [Member] | Continuing Operations [Member] |  |  |  |  |  |
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items] |  |  |  |  |  |
Total stock-based compensation expense |  | $ 14,062,000 | $ 11,234,000 | $ 7,830,000 |  |

X
- Definition Equitable adjustment of weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans during the reporting period. + References No definition available. + Details
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- Definition The number of equity-based payment instruments, excluding stock (or unit) options, that expired during the reporting period. + References No definition available. + 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 expired during the reporting period. + References No definition available. + Details
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- Definition Equitable adjustment of shares (or other type of equity) under an equity-based award plan, other than a stock option plan during the reporting period. + References No definition available. + Details
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- Definition Fair value of share-based compensation awards vested. Includes options, share units, stock appreciation rights, and restricted stock. + References No definition available. + Details
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- Definition Represents the expense recognized during the period arising from equity-based compensation arrangements (for example, shares of stock, unit, stock options or other equity instruments) with employees, directors and certain consultants qualifying for treatment as employees. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -URI http://asc.fasb.org/extlink&oid=27013229&loc=d3e301413-122809 Reference 2: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 1 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5047-113901 Reference 3: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. + References No definition available. + Details
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- Definition Weighted average period over which unrecognized compensation is expected to be recognized for equity-based compensation plans, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition Unrecognized cost of unvested options awarded to employees as compensation. + References No definition available. + Details
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- Definition The aggregate amount of noncash, equity-based employee remuneration. This may include the value of stock or unit options, amortization of restricted stock or units, and adjustment for officers' compensation. As noncash, this element is an add back when calculating net cash generated by operating activities using the indirect method. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 45 -Paragraph 28 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=66902209&loc=d3e3602-108585 + Details
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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://www.xbrl.org/2003/role/presentationRef -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=6415400&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://www.xbrl.org/2003/role/presentationRef -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=6415400&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://www.xbrl.org/2003/role/presentationRef -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=6415400&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://www.xbrl.org/2003/role/presentationRef -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=6415400&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://www.xbrl.org/2003/role/presentationRef -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=6415400&loc=d3e5070-113901 + Details
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- Definition A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period. + References No definition available. + Details
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- Definition The weighted average fair value of nonvested awards on equity-based plans excluding option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, revenue or profit achievement stock award plan) for which the employer is contingently obligated to issue equity instruments or transfer assets to an employee who has not yet satisfied service or performance criteria necessary to gain title to proceeds from the sale of the award or underlying shares or units. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -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=6415400&loc=d3e5070-113901 + Details
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- Definition A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period. + References No definition available. + 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://www.xbrl.org/2003/role/presentationRef -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=6415400&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://www.xbrl.org/2003/role/presentationRef -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=6415400&loc=d3e5070-113901 + Details
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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. + References No definition available. + Details
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- Definition Number of additional shares authorized for issuance under an established share-based compensation plan. + References No definition available. + Details
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- Definition The maximum number of shares (or other type of equity) originally approved (usually by shareholders and board of directors), net of any subsequent amendments and adjustments, for awards under the equity-based compensation plan. As stock or unit options and equity instruments other than options are awarded to participants, the shares or units remain authorized and become reserved for issuance under outstanding awards (not necessarily vested). + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (a)(3) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- References No definition available. + Details
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- Definition The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d)(2) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition Number of options or other stock instruments for which the right to exercise has lapsed under the terms of the plan agreements. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(4) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition 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. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -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=6415400&loc=d3e5070-113901 + Details
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- Definition Net number of share options (or share units) granted during the period. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(1) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d)(1) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition Number of options outstanding, including both vested and non-vested options. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i)-(ii) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition Amount by which the current fair value of the underlying stock exceeds the exercise price of fully vested and expected to vest options outstanding. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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- Definition As of the balance sheet date, the weighted-average exercise price for outstanding stock options that are fully vested or expected to vest. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e)(1) -URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901 + Details
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