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Stock-Based Compensation Plans (Tables)
 12 Months Ended
Dec. 31, 2016
Disclosure of Compensation Related Costs, Share-based Payments [Abstract]  
Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs
The following table shows stock-based compensation expense included in the Consolidated Statements of Income:
 
Years Ended December 31,
 
2016
 
2015
 
2014
Cost of equipment sales
$
525

 
$
998

 
$
1,004

Cost of software
131

 
211

 
95

Cost of support services
394

 
786

 
607

Cost of business services
525

 
845

 
694

Selling, general and administrative
12,127

 
16,460

 
14,028

Research and development
1,180

 
1,749

 
1,018

Restructuring
275

 
—

 
—

Stock-based compensation expense
15,157

 
21,049

 
17,446

Tax benefit
(5,820
)
 
(8,083
)
 
(6,699
)
Stock-based compensation expense, net of tax
$
9,337

 
$
12,966

 
$
10,747
Schedule of Share-based Compensation, Restricted Stock Units Award Activity
The following table summarizes information about restricted stock units during 2016 and 2015:
 
2016
 
2015
 
Shares
 
Weighted average grant date fair value
 
Shares
 
Weighted average grant date fair value
Outstanding - beginning of the year
1,727,214

 
$
18.30

 
1,819,239

 
$
16.41

Granted
826,546

 
17.20

 
809,436

 
21.15

Vested
(822,290
)
 
19.91

 
(802,284
)
 
16.88

Forfeited
(122,011
)
 
19.97

 
(99,177
)
 
17.93

Outstanding - end of the year
1,609,459

 
$
17.50

 
1,727,214

 
$
18.30
Schedule of Share-based Compensation, Performance Stock Units Award Activity
The following table summarizes share information about Performance stock units (PSUs) during 2016:
 
Years Ended December 31,
 
2016
 
2015
Outstanding - beginning of the year
1,107,515

 
606,715

Granted
889,599

 
725,330

Performance adjustments
(1,400,425
)
 
(188,774
)
Forfeited
(216,791
)
 
(35,756
)
Outstanding - end of the year
379,898

 
1,107,515
Schedule of Share-based Compensation, Stock Options, Activity
The following table summarizes information about stock option activity during 2016 and 2015:
 
2016
 
2015
 
Shares
 
Per share weighted average exercise prices
 
Shares
 
Per share weighted average exercise prices
Options outstanding - beginning of the year
8,771,600

 
$
31.26

 
10,708,694

 
$
34.27

Granted
1,758,760

 
16.87

 
200,000

 
24.79

Canceled
(157,176
)
 
19.48

 
(100,200
)
 
31.59

Expired
(1,250,422
)
 
42.62

 
(2,036,894
)
 
46.42

Options outstanding - end of the year
9,122,762

 
$
27.13

 
8,771,600

 
$
31.26

Options exercisable - end of the year
7,140,772

 
$
27.47

 
8,054,932

 
$
32.14
Schedule of Share-based Compensation, Shares Authorized under Stock Option Plans, by Exercise Price Range
The following table provides additional information about stock options outstanding and exercisable at December 31, 2016:
 
 
Options Outstanding
 
Options Exercisable
Range of per share exercise prices
 
Shares
 
Per share weighted-average exercise price
 
Weighted-average remaining contractual life
 
Shares
 
Per share weighted-average exercise price
 
Weighted-average remaining contractual life
$13.39 - $22.99
 
3,926,391

 
$
18.82

 
6.5
 
2,197,735

 
$
20.22

 
4.6
$23.00 - $30.99
 
2,511,223

 
25.26

 
3.8
 
2,257,889

 
25.33

 
3.23
$31.00 - $45.99
 
2,055,824

 
37.89

 
.88
 
2,055,824

 
38.90

 
.88
$46.00 - $48.03
 
629,324

 
48.03

 
.09
 
629,324

 
48.00

 
.90
 
 
9,122,762

 
$
27.13

 
4.1
 
7,140,772

 
$
29.66

 
2.7
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions
The follow table lists the weighted average of assumptions used to calculate the fair value of stock options granted during 2016 and 2015:
 
Years Ended December 31,
 
2016
 
2015
Expected dividend yield
4.5
%
 
3.4
%
Expected stock price volatility
29.0
%
 
29.0
%
Risk-free interest rate
1.6
%
 
2.0
%
Expected life
7 years

 
7.0 years

Weighted-average fair value per option granted
$2.85
 
$3.38
Fair value of options granted (in thousands)
$5,013
 
$676