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Summary of Significant Accounting Policies - Stock-Based Compensation (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2018
Sep. 30, 2017
Sep. 30, 2018
Sep. 30, 2017
Employee stock-based awards        
Weighted Average Common Shares Outstanding-Basic (in shares) 286,159,000 265,198,000 285,801,000 264,423,000
Stock-based compensation $ 7,279 $ 7,761 $ 23,352 $ 22,853
Stock-based compensation expense (income), net of tax $ 6,734 $ 6,851 $ 21,599 $ 20,174
Stock-based compensation expense per basic and diluted share (in dollars per share) $ 0.02 $ 0.03 $ 0.08 $ 0.08
Share-Based Compensation, aggregate disclosures        
Employee stock-based awards, unrecognized compensation costs on nonvested awards $ 50,089   $ 50,089  
Employee stock-based awards, unrecognized compensation costs on nonvested awards, weighted average period of recognition     2 years  
Continuing Operations        
Employee stock-based awards        
Stock-based compensation 7,279 $ 7,761 $ 23,352 $ 22,853
Continuing Operations | Cost of sales (excluding depreciation and amortization)        
Employee stock-based awards        
Stock-based compensation 29 25 87 80
Continuing Operations | Selling, general and administrative expenses        
Employee stock-based awards        
Stock-based compensation $ 7,250 7,736 $ 23,265 22,773
Stock Options        
Summary of option activity        
Options outstanding balance, beginning of period (in shares)     3,671,740  
Options granted (in shares)     846,517  
Options exercised (in shares)     (163,418)  
Options forfeited (in shares)     (38,533)  
Options expired (in shares)     (16,062)  
Options outstanding balance, end of period (in shares) 4,300,244   4,300,244  
Options exercisable balance (in shares) 2,388,037   2,388,037  
Options expected to vest (in shares) 1,817,579   1,817,579  
Performance units        
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options        
Non-vested at the beginning of the period (in shares)     467,811  
Granted (in shares)     353,507  
Vested (in shares)     (81,305)  
Forfeited (in shares)     (66,394)  
Non-vested at the end of the period (in shares) 673,619   673,619  
Total fair value of shares or units vested $ 84 52 $ 3,117 957
Performance units | Two Thousand Sixteen [Member] [Member]        
Performance units disclosure        
Percentage of achievement of the predefined revenue and ROIC targets 65.00%   65.00%  
Performance units | Two Thousand Seventeen [Member]        
Performance units disclosure        
Percentage of achievement of the predefined revenue and ROIC targets 110.00%   110.00%  
Performance units | Two Thousand Eighteen [Member]        
Performance units disclosure        
Percentage of achievement of the predefined revenue and ROIC targets 100.00%   100.00%  
Performance units | Revenue or revenue growth and return on invested capital        
Performance units disclosure        
Performance period     3 years  
Performance units | Minimum | Revenue or revenue growth and return on invested capital        
Performance units disclosure        
Percentage payout rate 0.00%   0.00%  
Performance units | Minimum | Market condition associated with shareholder return of common stock        
Performance units disclosure        
Percentage payout rate 0.00%   0.00%  
Performance units | Maximum | Revenue or revenue growth and return on invested capital        
Performance units disclosure        
Percentage payout rate 200.00%   200.00%  
Performance units | Maximum | Market condition associated with shareholder return of common stock        
Performance units disclosure        
Percentage payout rate 200.00%   200.00%  
Original PU Awards        
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options        
Non-vested at the beginning of the period (in shares)     717,878  
Granted (in shares)     353,507  
Vested (in shares)     (81,305)  
Forfeited (in shares)     (16,513)  
Non-vested at the end of the period (in shares) 973,567   973,567  
PUs Adjustment        
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options        
Non-vested at the beginning of the period (in shares)     (250,067)  
Granted (in shares)     0  
Vested (in shares)     0  
Forfeited (in shares)     (49,881)  
Non-vested at the end of the period (in shares) (299,948)   (299,948)  
Restricted Stock Units        
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options        
Non-vested at the beginning of the period (in shares)     1,071,469  
Granted (in shares)     746,704  
Vested (in shares)     (546,299)  
Forfeited (in shares)     (79,140)  
Non-vested at the end of the period (in shares) 1,192,734   1,192,734  
Total fair value of shares or units vested $ 3,189 $ 1,933 $ 19,195 $ 18,006