Consolidated Statements of Operations and Comprehensive Income - USD ($) shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Net sales	$ 530,860	$ 420,068	$ 343,798
Cost of sales	223,574	161,485	136,710
Gross margin	307,286	258,583	207,088
Sales, general and administrative	212,959	156,886	138,692
Research and development	100,721	76,856	55,373
Total operating expenses	313,680	233,742	194,065
Income (loss) from operations	(6,394)	24,841	13,023
Interest and other income, net	8,464	3,263	2,738
Income before provision for income taxes	2,070	28,104	15,761
Provision (benefit) for income taxes	1,188	(1,101)	10,554
Net income	$ 882	$ 29,205	$ 5,207
Net income per share:
Basic (in dollars per share)	$ 0.01	$ 0.52	$ 0.10
Diluted (in dollars per share)	$ 0.01	$ 0.50	$ 0.10
Weighted average shares outstanding:
Basic (in shares)	59,190	56,392	52,726
Diluted (in shares)	60,018	57,922	53,898
Net income	$ 882	$ 29,205	$ 5,207
Foreign currency translation adjustments	417	(46)	(2,370)
Comprehensive income	1,299	29,159	2,837
Product
Net sales	399,474	327,635	285,859
Cost of sales	190,683	139,337	117,997
Service
Net sales	131,386	92,433	57,939
Cost of sales	$ 32,891	$ 22,148	$ 18,713