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Debt - Deferred Financing Costs (Details Textual) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Debt Instrument [Line Items]      
Amortization expenses of deferred financing costs included in Interest expense $ 2,400 $ 1,900 $ 2,500
2015 Credit Agreement      
Debt Instrument [Line Items]      
Deferred financing costs related to convertible notes 3,500    
Senior Convertible Notes 2016      
Debt Instrument [Line Items]      
Deferred financing costs related to convertible notes $ 5,513    
Credit Agreement and Convertible Notes      
Debt Instrument [Line Items]      
Weighted-average interest rate on debt borrowings 5.00% 6.00% 6.00%