Consolidated Statements of Operations - USD ($) shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Revenues	$ 892,208	$ 897,027	$ 787,309
Cost of revenues	478,916	460,115	414,979
Gross profit	413,292	436,912	372,330
Operating expenses:
Research and development	70,161	68,644	64,843
Selling, general, and administrative	307,605	289,916	263,095
Total operating expenses	377,766	358,560	327,938
Income from operations	35,526	78,352	44,392
Interest and other income (expense), net	(6,177)	(4,419)	(8,776)
Income before provision for income taxes	29,349	73,933	35,616
Provision for (benefit from) income taxes	(2,845)	12,595	(2,113)
Net income	$ 32,194	$ 61,338	$ 37,729
Net income per share:
Basic (in dollars per share)	$ 0.76	$ 1.48	$ 0.96
Diluted (in dollars per share)	$ 0.74	$ 1.43	$ 0.93
Weighted-average shares outstanding:
Basic (in shares)	42,583	41,462	39,242
Diluted (in shares)	43,743	42,943	40,559
Product revenues
Revenues	$ 636,031	$ 659,602	$ 569,595
Cost of revenues	354,004	344,914	312,360
Services and other revenues
Revenues	256,177	237,425	217,714
Cost of revenues	$ 124,912	$ 115,201	$ 102,619