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Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2015
Share-based Compensation [Abstract]  
Schedule of Share-based Compensation, Shares Authorized under Stock Option Plans, by Exercise Price Range
The following table shows the related information for options outstanding and options exercisable as of December 31, 2015: 
  
  
Options Outstanding
 
Options Exercisable
Range of 
Exercise Prices
 
Options
 
Weighted-
Average
Remaining
Contractual Life
(Years)
 
Weighted-
Average
Exercise Price
 
Options
 
Weighted-
Average
Exercise Price
 $9.66 - $15.65
 
307,564

 
3.37
 
$
12.78

 
235,424

 
$
12.40

$15.68 - $18.65
 
271,050

 
7.25
 
$
17.75

 
125,835

 
$
18.06

$18.80 - $22.00
 
266,699

 
5.29
 
$
20.70

 
161,529

 
$
20.60

$22.53 - $24.10
 
270,941

 
6.43
 
$
23.14

 
140,896

 
$
23.07

$24.57 - $27.75

 
401,668

 
6.91
 
$
26.71

 
224,248

 
$
26.83

$28.90 - $29.54
 
289,586

 
6.38
 
$
29.11

 
184,311

 
$
29.20

$30.12 - $30.91
 
359,211

 
5.99
 
$
30.48

 
192,743

 
$
30.52

$31.24 - $31.24
 
211,168

 
6.31
 
$
31.24

 
109,614

 
$
31.24

$31.91 - $31.91
 
15,000

 
6.46
 
$
31.91

 
12,600

 
$
31.91

$31.94 - $31.94
 
2,220

 
6.33
 
$
31.94

 
1,860

 
$
31.94

Outstanding at December 31
 
2,395,107

 
6.00
 
$
24.13

 
1,389,060

 
$
23.71
Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs
The following table shows total stock-based compensation expense recognized under ASC Topic 718, Compensation—Stock Compensation (“ASC 718”), for employees and directors and the effect on the accompanying Consolidated Statement of Operations for the years ended December 31:
In thousands
2015
 
2014
 
2013
Cost of sales
$
833

 
$
800

 
$
782

Research, development, and engineering
3,230

 
2,875

 
2,523

Selling, general and administrative expenses
11,199

 
13,152

 
12,168

Total stock-based compensation expense
$
15,262

 
$
16,827

 
$
15,473
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions
We used the following weighted-average assumptions to estimate the fair value of stock options at the date of grant using the Black-Scholes option-pricing model for the years ended December 31:
 
2015
 
2014
 
2013
Expected life (in years)
5.9

 
5.9

 
5.9

Risk-free interest rate
1.7
%
 
1.7
%
 
1.1
%
Volatility factor
43
%
 
47
%
 
47
%
Dividend yield
—

 
—

 
—
Schedule of Share-based Compensation, Activity
The following table is a summary of our stock option activity and related information for the year ended December 31, 2015:
 
Options
 
Weighted-
Average
Exercise Price
 
Weighted Average
Remaining
Contractual Term
(Years)
 
Aggregate
Intrinsic Value
as of
December 31,
2015 (in thousands)
Outstanding at January 1, 2015
2,695,276

 
$
24.09

 
 
 
 
Granted
31,500

 
$
16.71

 
 
 
 
Exercised
(21,730
)
 
$
15.29

 
 
 
 
Forfeited and expired
(309,939
)
 
$
23.63

 
 
 
 
Outstanding at December 31, 2015
2,395,107

 
$
24.13

 
6.0
 
$
2,827

Exercisable at December 31, 2015
1,389,060

 
$
23.71

 
5.66
 
$
2,035

Vested and expected to vest as of December 31, 2015, net of anticipated forfeitures
2,307,140

 
$
24.07

 
5.99
 
$
2,771


The aggregate intrinsic value in the table above represents the total pre-tax intrinsic value (the difference between our closing stock price on the last trading day of the year ended December 31, 2015 and the exercise price, multiplied by the number of in-the-money options) that would have been received by the option holders had all option holders exercised their options on December 31, 2015. Total intrinsic value of options exercised (selling price of the exercised stock less the option strike price multiplied by the share amount) in the year ended December 31, 2015 was $0.1 million as compared to $1.8 million and $9.6 million in 2014 and 2013, respectively. Cash received from option exercises in the years ended December 31, 2015 and 2014 was $0.3 million and $4.3 million, respectively.

The following table is a summary of our option activity for the years ended December 31:
 
2014
 
2013
 
Options
 
Weighted-
Average
Exercise Price
 
Options
 
Weighted-
Average
Exercise Price
Outstanding at January 1
2,659,884

 
$
23.51

 
3,195,573

 
$
23.33

Granted
462,250

 
$
22.99

 
61,000

 
$
31.38

Exercised
(274,551
)
 
$
15.46

 
(560,808
)
 
$
22.78

Forfeited and expired
(152,307
)
 
$
26.23

 
(35,881
)
 
$
32.58

Outstanding at December 31
2,695,276

 
$
24.09

 
2,659,884

 
$
23.51
Schedule of Share-based Compensation, Restricted Stock and Restricted Stock Units Activity
The following table is a summary of our restricted stock unit activity and related information as of December 31: 
 
2015
 
2014
 
2013
 
Shares
 
Weighted- Average
Grant Date 
Fair Value
 
Shares
 
Weighted-Average
Grant Date 
Fair Value
 
Shares
 
Weighted-Average
Grant Date 
Fair Value
Nonvested stock at January 1
1,328,357

 
$
23.43

 
1,089,354

 
$
27.75

 
874,370

 
$
26.04

Granted
56,000

 
$
16.54

 
694,250

 
$
19.26

 
599,500

 
$
29.79

Vested
(421,375
)
 
$
24.27

 
(403,116
)
 
$
27.55

 
(368,076
)
 
$
26.78

Forfeited
(78,822
)
 
$
24.00

 
(52,131
)
 
$
26.40

 
(16,440
)
 
$
32.55

Nonvested stock at December 31
884,160

 
$
22.54

 
1,328,357

 
$
23.43

 
1,089,354

 
$
27.75