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STOCK PLANS AND SHARE BASED COMPENSATION (Tables)
 12 Months Ended
Dec. 31, 2019
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, 2019, 2018 and 2017:
 
Year Ended December 31,
(in thousands)
2019
 
2018
 
2017
Cost of revenues
$
1,237

 
$
1,097

 
$
1,321

Research and development
8,423

 
7,688

 
8,496

Sales and marketing
5,015

 
4,729

 
5,197

General and administrative
8,672

 
8,066

 
9,663

Total stock-based compensation expense
$
23,347

 
$
21,580

 
$
24,677
Share-based Payment Arrangement, Nonvested Award, Cost [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, 2019:
 
Unrecognized Compensation
Expense for Unvested
Awards
(in thousands)
 
Weighted Average
Remaining Recognition
Period
(in years)
Long-term performance-based awards
$
1,693

 
2.00
Restricted stock units
35,276

 
2.94
Purchase plan
142

 
0.08
Total unrecognized compensation expense
$
37,111

 
 
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, 2019, 2018 and 2017:
 
Year Ended December 31,
 
2019
 
2018
 
2017
Risk-free interest rates
2.28%
 
1.94%
 
0.91%
Expected volatility rates
37%
 
31%
 
30%
Expected dividend yield
0.91%
 
0.89%
 
0.80%
Expected term of purchase rights (in years)
0.50
 
0.50
 
0.50
Weighted-average estimated fair value of purchase rights
$19.39
 
$17.33
 
$16.74
Summary of option activity under the Plans [Table Text Block]
A summary of stock options outstanding as of December 31, 2019, 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, 2017
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

 
 
 
 
Granted
—

 
—

 
 
 
 
Exercised
(168
)
 
$
25.96

 
 
 
 
Forfeited or expired
—

 
—

 
 
 
 
Outstanding at December 31, 2019
167

 
$
38.88

 
1.30
 
$
10,051

Vested and Exercisable at December 31, 2019
167

 
 
 
1.30
 
$
10,051
Summary of stock options outstanding by exercise price range [Table Text Block]
The following table summarizes the stock options outstanding at December 31, 2019:
 
 
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
$32.26 - $38.07
 
92

 
0.74
 
$
36.80

 
92

 
$
36.80

$39.49 - $42.88
 
75

 
1.99
 
$
41.43

 
75

 
$
41.43

 
 
167

 
1.30
 
$
38.88

 
167

 
$
38.88
Summary of restricted stock units outstanding [Table Text Block]
A summary of RSU awards outstanding as of December 31, 2019, 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, 2017
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

 
 
 
 
Granted
291

 
$
69.79

 
 
 
 
Vested
(301
)
 
$
56.19

 
 
 
 
Forfeited
(25
)
 
$
63.43

 
 
 
 
Outstanding at December 31, 2019
860

 
$
62.66

 
1.58
 
$
85,037

Outstanding and expected to vest at December 31, 2019
801

 
 
 
1.50
 
$
79,192
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, 2019, 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, 2017
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

 
 
 
 
Granted
93

 
$
70.11

 
 
 
 
Vested
(26
)
 
$
62.87

 
 
 
 
Forfeited or canceled
(32
)
 
$
70.11

 
 
 
 
Outstanding at December 31, 2019
61

 
$
70.11

 
—

 
$
5,999

Outstanding and expected to vest at December 31, 2019
61

 
 
 
—

 
$
5,999
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, 2019, 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, 2017
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

 
 
 
 
Granted
72

 
$
68.17

 
 
 
 
Vested
(70
)
 
$
43.26

 
 
 
 
Forfeited or canceled
(71
)
 
$
63.00

 
 
 
 
Outstanding at December 31, 2019
144

 
$
64.05

 
1.50
 
$
14,203

Outstanding and expected to vest at December 31, 2019
58

 

 
2.00
 
$
5,768