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Stock-Based Compensation - Stock-based Compensation Expense and Related Income Tax Benefit (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2018
Sep. 30, 2017
Sep. 30, 2018
Sep. 30, 2017
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Employee and director stock-based compensation expense $ 2,139 $ 3,921 $ 6,808 $ 9,476
Income tax benefit 441 603 1,423 2,307
Cost of sales        
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Employee and director stock-based compensation expense 21 19 61 53
Research and development expenses        
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Employee and director stock-based compensation expense 200 149 556 412
Selling, general and administrative expenses | Employees        
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Employee and director stock-based compensation expense 1,671 1,843 4,936 5,562
Selling, general and administrative expenses | Outside directors        
Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Line Items]        
Employee and director stock-based compensation expense $ 247 $ 1,910 $ 1,255 $ 3,449