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Stock-Based Compensation - Expense (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2016
Sep. 30, 2015
Sep. 30, 2016
Sep. 30, 2015
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Total stock-based compensation expense $ 2,668 $ 1,940 $ 7,638 $ 5,923
Income tax benefit 812 550 2,281 1,684
Cost of Sales [Member]        
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Total stock-based compensation expense 14 10 43 29
Research and Development Expenses [Member]        
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Total stock-based compensation expense 136 94 409 305
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 1,748 1,459 5,324 4,465
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 $ 770 $ 377 $ 1,862 $ 1,124