Share-Based Compensation (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	3 Months Ended
	Mar. 31, 2020	Mar. 31, 2019
Share-based compensation
Non-cash share based compensation	$ 3,646	$ 3,157
Cost of sales
Share-based compensation
Non-cash share based compensation	521	470
Research and development
Share-based compensation
Non-cash share based compensation	874	792
Selling, general and administrative
Share-based compensation
Non-cash share based compensation	$ 2,251	$ 1,895
Restricted stock awards | Minimum
Share-based compensation
Expiration term	1 year
Restricted stock awards | Maximum
Share-based compensation
Expiration term	5 years
Stock options
Number of Shares
Outstanding at the beginning of the period (in shares)	1,119
Expired or forfeited (in shares)	(40)
Outstanding at the end of the period (in shares)	1,079
Weighted Average Exercise Price
Outstanding at the beginning of the period (in dollars per share)	$ 34.88
Expired or forfeited (in dollars per share)	34.19
Outstanding at the end of the period (in dollars per share)	$ 34.90
Non-vested restricted shares and performance shares
Number of Shares
Outstanding at the beginning of the period (in shares)	2,257
Granted (in shares)	840
Performance award adjustments (in shares)	(45)
Vested (in shares)	(190)
Forfeited (in shares)	(233)
Outstanding at the end of the period (in shares)	2,629
Weighted Average Grant Date Fair Value
Outstanding at the beginning of the period (in dollars per share)	$ 16.20
Granted (in dollars per share)	8.99
Performance award adjustments (in dollars per share)	31.34
Vested (in dollars per share)	12.68
Forfeited (in dollars per share)	16.35
Outstanding at the end of the period (in dollars per share)	$ 13.88