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Stock Plans (Tables)
 12 Months Ended
Dec. 31, 2016
Disclosure of Compensation Related Costs, Share-based Payments [Abstract]  
Schedule of stock-based compensation
The following table summarizes stock-based compensation expense:
 
December 31,
 
2016
 
2015
 
2014
Stock options
$
7,778

 
$
8,495

 
$
9,992

Restricted stock awards
25,384

 
22,592

 
18,353

ESPP Plan
817

 
624

 
642

Total stock-based compensation before taxes1
$
33,979

 
$
31,711

 
$
28,987

Tax benefit
$
11,108

 
$
10,130

 
$
9,939


1 Includes $1.6 million, $1.8 million and $1.7 million related to discontinued operations for the years ended December 31, 2016, 2015 and 2014, respectively.
Schedule of fair value assumptions
The weighted‑average assumptions used in the Black‑Scholes option pricing model are as follows:
 
December 31,
 
2016
 
2015
 
2014
Expected stock price volatility
45
%
 
47
%
 
57
%
Risk-free interest rate
1.16
%
 
1.27
%
 
1.43
%
Expected life of options (in years)
4.0

 
4.0

 
4.2

Expected dividend yield
—
%
 
—
%
 
—
%
Weighted-average fair value (grant date) of the options
$
11.13

 
$
15.88

 
$
14.67
Schedule of information about stock options outstanding
The following table summarizes information about stock options outstanding.
Options
 
Number of
Options
 
Weighted-
Average
Exercise Price
 
Weighted-
Average
Remaining
Contractual
Term (Years)
 
Aggregate
Intrinsic
Value
Outstanding at December 31, 2015
 
2,348

 
$
31.04

 
 
 
 
Options Granted
 
878

 
31.04

 
 
 
 
Options Exercised
 
(608
)
 
22.88

 
 
 
 
Options Cancelled
 
(289
)
 
36.56

 
 
 
 
Outstanding at December 31, 2016
 
2,329

 
$
32.48

 
4.60
 
$
15,719

Vested at December 31, 2016
 
2,203

 
$
32.45

 
4.53
 
$
14,865

Exercisable at December 31, 2016
 
1,056

 
$
31.19

 
3.03
 
$
8,397
Schedule of total intrinsic value for options exercised and fair value of vested options
The below table summarizes additional information related to stock options:
 
December 31,
 
2016
 
2015
 
2014
Total intrinsic value for stock options exercised
$
8,953

 
$
18,369

 
$
18,950

Fair value of vested awards
$
21,687

 
$
29,815

 
$
19,409
Summary of unvested restricted stock activity
A summary of the Company’s unvested restricted stock at December 31, 2016, and changes during the year ended December 31, 2016, is presented below: 
Non-Vested Restricted Stock
 
Number of
Awards
 
Weighted- Average
Grant Date
Fair Value
Non-vested at December 31, 2015
 
1,412

 
$
36.80

Granted
 
939

 
34.06

Vested
 
(677
)
 
35.65

Forfeited
 
(334
)
 
37.55

Non-vested at December 31, 2016
 
1,340

 
$
35.28