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Commitments and Contingencies - Warranty (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Accrued Warranty      
Warranty period of products purchased 1 year    
Balance, beginning of the year $ 8,159 $ 5,411 $ 5,662
Addition for new warranties issued 3,916 7,873 3,484
Addition from PSP acquisition     809
Settlements (6,433) (3,551) (3,802)
Changes in estimate (1,425) (1,574) (742)
Balance, end of the year $ 4,217 $ 8,159 $ 5,411