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STOCK PLANS AND SHARE BASED COMPENSATION (Tables)
 12 Months Ended
Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Summary of stock-based compensation expense [Table Text Block]
The following table summarizes the stock-based compensation expense recognized in accordance with ASC 718-10 for the years ended December 31, 2018, 2017 and 2016:
 
Year Ended December 31,
(in thousands)
2018
 
2017
 
2016
Cost of revenues
$
1,097

 
$
1,321

 
$
1,148

Research and development
7,688

 
8,496

 
7,309

Sales and marketing
4,729

 
5,197

 
4,489

General and administrative
8,066

 
9,663

 
7,939

Total stock-based compensation expense
$
21,580

 
$
24,677

 
$
20,885
Schedule of Unrecognized Compensation Cost, Nonvested Awards [Table Text Block]
The following table summarizes total compensation expense related to unvested awards not yet recognized, net of expected forfeitures, and the weighted average period over which it is expected to be recognized as of December 31, 2018:
 
Unrecognized Compensation
Expense for Unvested
Awards
(in thousands)
 
Weighted Average
Remaining Recognition
Period
(in years)
Long-term performance-based awards
$
2,042

 
0.91
Restricted stock units
34,546

 
3.27
Purchase plan
138

 
0.08
Total unrecognized compensation expense
$
36,726

 
 
Fair value assumptions for employees' stock purchase rights under the Purchase Plan [Table Text Block]
The fair value of employees’ stock purchase rights under the Purchase Plan was estimated using the Black-Scholes model with the following weighted-average assumptions used during the three years ended December 31, 2018, 2017 and 2016:
 
Year Ended December 31,
 
2018
 
2017
 
2016
Risk-free interest rates
1.94%
 
0.91%
 
0.44%
Expected volatility rates
31%
 
30%
 
32%
Expected dividend yield
0.89%
 
0.80%
 
0.96%
Expected term of purchase rights (in years)
0.50
 
0.50
 
0.50
Weighted-average estimated fair value of purchase rights
$17.33
 
$16.74
 
$12.23
Summary of option activity under the Plans [Table Text Block]
A summary of stock options outstanding as of December 31, 2018, and activity during three years then ended, is presented below:
 (shares and intrinsic value in thousands)
Shares
 
Weighted
Average
Exercise
Price
 
Weighted Average
Remaining Contractual
Term
(in years)
 
Aggregate
Intrinsic
Value
Outstanding at January 1, 2016
1,030

 
$
27.58

 
 
 
 
Granted
—

 
—

 
 
 
 
Exercised
(333
)
 
$
25.41

 
 
 
 
Forfeited or expired
—

 
—

 
 
 
 
Outstanding at December 31, 2016
697

 
$
28.62

 
 
 
 
Granted
—

 
—

 
 
 
 
Exercised
(186
)
 
$
27.48

 
 
 
 
Forfeited or expired
—

 
—

 
 
 
 
Outstanding at December 31, 2017
511

 
$
29.03

 
 
 
 
Granted
—

 
—

 
 
 
 
Exercised
(176
)
 
$
22.60

 
 
 
 
Forfeited or expired
—

 
—

 
 
 
 
Outstanding at December 31, 2018
335

 
$
32.41

 
1.55
 
$
9,578

Vested and Exercisable at December 31, 2018
335

 
 
 
1.55
 
$
9,578
Summary of stock options outstanding by exercise price range [Table Text Block]
The following table summarizes the stock options outstanding at December 31, 2018:
 
 
Options Outstanding
 
Options Exercisable
(shares in thousands)

Range of Exercise Prices
 
Options Outstanding
 
Weighted Average
Remaining Contractual Term
(in years)
 
Weighted Average Exercise Price
 
Options Exercisable
 
Weighted Average Exercise Price
$17.75 - $36.95
 
181

 
0.88
 
$
26.05

 
181

 
$
26.05

$37.96 - $42.88
 
154

 
2.35
 
$
39.85

 
154

 
$
39.85

 
 
335

 
1.55
 
$
32.41

 
335

 
$
32.41
Summary of restricted stock units outstanding [Table Text Block]
A summary of RSU awards outstanding as of December 31, 2018, and activity during the three years then ended, is presented below:
(shares and intrinsic value in thousands)
Shares
 
Weighted Average Grant-Date Fair Value Per Share
 
Weighted Average Remaining Contractual Term
(in years)
 
Aggregate Intrinsic Value
Outstanding at January 1, 2016
681

 
$
46.98

 
 
 
 
Granted
331

 
$
46.70

 
 
 
 
Vested
(270
)
 
$
45.13

 
 
 
 
Forfeited
(24
)
 
$
47.21

 
 
 
 
Outstanding at December 31, 2016
718

 
$
47.54

 
 
 
 
Granted
558

 
$
60.82

 
 
 
 
Vested
(284
)
 
$
46.52

 
 
 
 
Forfeited
(44
)
 
$
50.89

 
 
 
 
Outstanding at December 31, 2017
948

 
$
55.51

 
 
 
 
Granted
275

 
$
62.85

 
 
 
 
Vested
(296
)
 
$
53.78

 
 
 
 
Forfeited
(32
)
 
$
59.43

 
 
 
 
Outstanding at December 31, 2018
895

 
$
58.19

 
1.75
 
$
54,575

Outstanding and expected to vest at December 31, 2018
828

 
 
 
1.63
 
$
50,477
Performance Based Awards [Member]  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Summary of performance-based awards outstanding [Table Text Block]
A summary of PSU awards outstanding as of December 31, 2018, and activity during the three years then ended, is presented below:
(shares and intrinsic value in thousands)
Shares
 
Weighted Average Grant-Date Fair Value Per Share
 
Weighted Average Remaining Contractual Term
(in years)
 
Aggregate Intrinsic
Value
Outstanding at January 1, 2016
11

 
$
52.35

 
 
 
 
Granted
101

 
$
46.26

 
 
 
 
Vested
(11
)
 
$
52.35

 
 
 
 
Forfeited or canceled
(2
)
 
$
46.87

 
 
 
 
Outstanding at December 31, 2016
99

 
$
46.25

 
 
 
 
Granted
88

 
$
63.99

 
 
 
 
Vested
(99
)
 
$
46.25

 
 
 
 
Forfeited or canceled
(9
)
 
$
63.99

 
 
 
 
Outstanding at December 31, 2017
79

 
$
63.99

 
 
 
 
Granted
89

 
$
62.87

 
 
 
 
Vested
(79
)
 
$
63.99

 
 
 
 
Forfeited or canceled
(63
)
 
$
62.87

 
 
 
 
Outstanding at December 31, 2018
26

 
$
62.87

 
—

 
$
1,610

Outstanding and expected to vest at December 31, 2018
26

 
 
 
—

 
$
1,610
Long-Term Performance-based Awards [Member]  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Summary of performance-based awards outstanding [Table Text Block]
A summary of PRSU awards outstanding as of December 31, 2018, and activity during the three years then ended, is presented below:
(shares and intrinsic value in thousands)
Shares
 
Weighted Average Grant-Date Fair Value Per Share
 
Weighted Average Remaining Contractual Term
(in years)
 
Aggregate Intrinsic Value
Outstanding at January 1, 2016
129

 
$
53.75

 
 
 
 
Granted
78

 
$
43.26

 
 
 
 
Vested
—

 
—

 
 
 
 
Forfeited or canceled
(57
)
 
$
55.35

 
 
 
 
Outstanding at December 31, 2016
150

 
$
47.65

 
 
 
 
Granted
71

 
$
63.00

 
 
 
 
Vested
—

 
—

 
 
 
 
Forfeited or canceled
(37
)
 
$
51.59

 
 
 
 
Outstanding at December 31, 2017
184

 
$
52.80

 
 
 
 
Granted
72

 
$
59.90

 
 
 
 
Vested
(38
)
 
$
52.45

 
 
 
 
Forfeited or canceled
(5
)
 
$
43.26

 
 
 
 
Outstanding at December 31, 2018
213

 
$
55.48

 
1.50
 
$
12,963

Outstanding and expected to vest at December 31, 2018
141

 

 
0.78
 
$
8,611