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Stock-Based Compensation - Expense (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2016
Jun. 30, 2015
Jun. 30, 2016
Jun. 30, 2015
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Total stock-based compensation expense $ 2,477 $ 2,024 $ 4,970 $ 3,983
Income tax benefit 736 574 1,469 1,134
Cost of Sales [Member]        
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Total stock-based compensation expense 15 10 29 19
Research and Development Expenses [Member]        
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Total stock-based compensation expense 137 106 273 211
Selling, General and Administrative Expenses [Member] | Employees [Member]        
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Total stock-based compensation expense 1,731 1,535 3,576 3,006
Selling, General and Administrative Expenses [Member] | Outside Directors [Member]        
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Total stock-based compensation expense $ 594 $ 373 $ 1,092 $ 747