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Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2016
Disclosure of Compensation Related Costs, Share-based Payments [Abstract]  
Summary of Stock Option Activity
The following table summarizes the Company’s stock option activity:
 
Shares
(in thousands)
 
Weighted-
Average
Exercise
Price
 
Weighted-
Average
Remaining
Contractual
Term
(in years)
 
Aggregate
Intrinsic Value
(in thousands)
Outstanding as of December 31, 2015
6,644

 
$
28.27

 
 
 
 
Granted
1,930

 
35.58

 
 
 
 
Exercised
(1,977
)
 
21.99

 
 
 
 
Forfeited or expired
(164
)
 
37.45

 
 
 
 
Outstanding as of December 31, 2016
6,433

 
$
32.16

 
7.4
 
$
202,368

Exercisable as of December 31, 2016
2,037

 
$
22.21

 
5.3
 
$
84,359

Options vested or expected to vest as of 
 December 31, 2016 (1)
5,837

 
$
31.52

 
7.2
 
$
187,350

(1) In addition to the vested options, the Company expects a portion of the unvested options to vest at some point in the future. Options expected to vest are calculated by applying an estimated forfeiture rate to the unvested options.
Weighted-Average Assumptions Used in Estimating Fair Values of Stock Options Granted
The fair values of stock options granted in each period presented were estimated using the following weighted-average assumptions:
 
Year Ended December 31,
 
2016
 
2015
 
2014
Risk-free rate
1.7
%
 
2.1
%
 
2.6
%
Expected dividend yield
0.83
%
 
1.25
%
 
—
%
Expected volatility
41
%
 
40
%
 
41
%
Expected term (in years)
5.6

 
5.4

 
5.4
Nonvested Restricted Stock Shares Activity [Table Text Block]
The following table summarizes the Company's restricted stock activity:
 
Shares (in thousands)
 
Weighted-Average Grant Fair Value
 
Aggregate Intrinsic Value (in thousands) (1)
Nonvested as of December 31, 2015
20

 
$
34.05

 
 
Granted
—

 
—

 
 
Vested
—

 
—

 
 
Forfeited or expired
—

 
—

 
 
Nonvested as of December 31, 2016
20

 
$
34.05

 
$
1,272


    (1) Fair market value as of December 31, 2016.
Stock-Based Compensation Expense
The following table presents the stock-based compensation expense by caption for each period presented on the Consolidated Statements of Operations (in thousands):
 
Year Ended December 31,
 
2016
 
2015
 
2014
Cost of revenue
$
1,052

 
$
1,515

 
$
1,116

Research, development, and engineering
6,271

 
5,194

 
3,709

Selling, general, and administrative
13,235

 
13,032

 
9,234

Discontinued operations
—

 
1,533

 
1,099

 
$
20,558

 
$
21,274

 
$
15,158