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Income taxes (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Current      
Federal $ 29,244 $ 38,957 $ 22,988
State 2,331 2,221 959
International 1,002 2,029 828
Total current 32,577 43,207 24,775
Deferred      
Federal 9,979 (119) 3,332
State (272) (111) 209
International (5,587) 1,323 1,612
Total deferred 4,120 1,093 5,153
Total provision for income taxes 36,697 44,300 29,928
Net deferred tax asset [Abstract]      
Net operating loss carryforward (federal) 4,130 5,394  
Net Operating Loss Carryforward (state) 13,682 12,751  
Research and development carryforward 3,647 3,545  
Scientific research and experimental development credit carryforward 16,594 25,771  
Intangible assets 0 5,792  
Stock compensation 8,389 9,391  
Foreign deferrals 58,647 80,920  
Inventory reserves 2,273 3,754  
Other 5,569 8,484  
Deferred tax asset 112,931 155,802  
Fixed assets (30,728) (31,925)  
Intangible assets (5,882) (4,760)  
Other (16,047) (17,192)  
Deferred tax liability (52,657) (53,877)  
Valuation allowance (54,178) (90,639)  
Net deferred tax asset 6,096 11,286  
Operating Loss Carryforwards [Line Items]      
Deferred Tax Assets, Valuation Allowance 54,178 90,639  
Income tax reconciliation [Abstract]      
US 63,330 117,385 76,909
International 35,891 18,331 7,285
Earnings before taxes on income 99,221 135,716 84,194
Federal tax at statutory rates 34,738 47,475 29,468
State taxes, net of federal benefit 529 852 650
Impact of foreign operations (9,937) (1,640) (1,176)
Change in valuation allowance 10,458 (950) 1,091
Effect of foreign rates (720)    
Tax credits (1,572) (2,088) (1,743)
Other differences 1,823 733 126
Permanent differences 1,378 (82) 1,512
Total provision for income taxes $ 36,697 $ 44,300 $ 29,928
Effective annual tax rate 37.00% 33.00% 36.00%
Research and Development Tax Credit [Member]      
Tax Credit Carryforward [Line Items]      
Tax credit carryforward, amount $ 3,700    
Tax credit carryforwards, expiration date Dec. 31, 2023    
Canadian Federal Scientific Research And Experimental Development [Member]      
Tax Credit Carryforward [Line Items]      
Tax credit carryforward, amount $ 500    
Tax credit carryforwards, expiration date Dec. 31, 2027    
Manitoba Scientific Research And Experimental Development [Member]      
Tax Credit Carryforward [Line Items]      
Tax credit carryforward, amount $ 16,100    
Tax credit carryforwards, expiration date Dec. 31, 2024    
U.S. Federal Tax Authority [Member]      
Operating Loss Carryforwards [Line Items]      
Net operating loss carryforwards $ 11,800    
Operating loss carryforwards, expiration year Dec. 31, 2026    
State and Local Jurisdiction [Member]      
Net deferred tax asset [Abstract]      
Valuation allowance $ (191,700)    
Operating Loss Carryforwards [Line Items]      
Net operating loss carryforwards $ 255,100    
Operating loss carryforwards, expiration year Dec. 31, 2018    
Deferred Tax Assets, Valuation Allowance $ 191,700    
Foreign Tax Authority [Member]      
Operating Loss Carryforwards [Line Items]      
Net operating loss carryforwards $ 170,300    
Period of change in the nature or conduct of business following change in ownership 3 years    
U.S. Federal Tax Authority - Tax Effected [Member]      
Operating Loss Carryforwards [Line Items]      
Net operating loss carryforwards $ 4,100    
State and Local Jurisdiction - Tax Effected [Member]      
Net deferred tax asset [Abstract]      
Valuation allowance (10,300)    
Operating Loss Carryforwards [Line Items]      
Net operating loss carryforwards 13,700    
Deferred Tax Assets, Valuation Allowance 10,300    
Canadian Federal Gross [Member]      
Net deferred tax asset [Abstract]      
Valuation allowance (43,600)    
Operating Loss Carryforwards [Line Items]      
Deferred Tax Assets, Valuation Allowance 43,600    
Canadian Federal Tax Effected [Member]      
Net deferred tax asset [Abstract]      
Valuation allowance (11,700)    
Operating Loss Carryforwards [Line Items]      
Deferred Tax Assets, Valuation Allowance 11,700    
Foreign Tax Authority Tax Effected [Member]      
Net deferred tax asset [Abstract]      
Valuation allowance (43,900)    
Operating Loss Carryforwards [Line Items]      
Deferred Tax Assets, Valuation Allowance $ 43,900