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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