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Debt and Line of Credit (Details)
$ in Thousands
12 Months Ended 27 Months Ended
Mar. 07, 2017
USD ($)
Jul. 02, 2014
USD ($)
covenant
Jul. 01, 2014
Dec. 30, 2013
USD ($)
satellite_hub
Jan. 30, 2013
USD ($)
satellite_hub
Jun. 09, 2011
Dec. 31, 2017
USD ($)
financial_covenants
Dec. 31, 2016
USD ($)
Dec. 31, 2015
USD ($)
Jul. 01, 2019
USD ($)
Apr. 06, 2009
USD ($)
Long-term Debt, Fiscal Year Maturity [Abstract]                      
Total outstanding at December 31             $ 47,054 $ 58,053      
Repayments of Long-term loan             9,350 5,281 $ 4,876    
Long-term Debt, Current Maturities             2,482 7,900      
Long-term Debt, Excluding Current Maturities             44,572 50,153      
Line of credit | Term loan                      
Long-term Debt, Fiscal Year Maturity [Abstract]                      
Total outstanding at December 31             $ 44,275 53,625      
Mortgages                      
Debt Instrument [Line Items]                      
Debt instrument, face amount                     $ 4,000
Debt instrument, maturity term             10 years        
Debt instrument, principal amortization term             20 years        
Monthly repayments of long-term debt, principal and interest             $ 0        
Annual increase in repayments of long-term debt, principal and interest             0        
Thereafter             $ 2,551        
Number of financial covenants | financial_covenants             1        
Long-term Debt, Fiscal Year Maturity [Abstract]                      
Total outstanding at December 31             $ 2,779 2,951      
Mortgages | Minimum                      
Debt Instrument [Line Items]                      
Debt instrument, restrictive covenant, fixed charge coverage ratio, amount             25,000        
Secured Debt                      
Debt Instrument [Line Items]                      
Debt instrument, face amount       $ 1,200 $ 4,700            
Debt instrument, maturity term       5 years 5 years            
Number of satellite hubs pledged as collateral | satellite_hub       1 6            
Debt instrument, fixed interest rate       3.08% 2.76%            
Long-term Debt, Fiscal Year Maturity [Abstract]                      
Total outstanding at December 31             0 $ 1,477      
Senior Credit Facility | Line of credit | Line of credit                      
Debt Instrument [Line Items]                      
Debt Instrument, Term     5 years                
Number of financial covenants | covenant   2                  
Long-term Debt, Fiscal Year Maturity [Abstract]                      
Line of credit facility, current borrowing capacity   $ 80,000                  
Proceeds from Lines of Credit   250                  
Line of credit facility, amount outstanding   $ 30,000                  
Line of Credit Facility, Mandatory Prepayment Provision, Net Cash Proceeds from Dispositions Not Reinvested, Percentage   100.00%                  
Line of Credit Facility, Mandatory Prepayment Provision, Net Cash Proceeds from Stated Equity Issuance, Percentage   50.00%                  
Line of Credit Facility, Mandatory Prepayment Provision, Net Cash Proceeds from Receipts Greater than 250 Thousand Dollars, Non-ordinary Business, Percentage   100.00%                  
Consolidated Leverage Ratio     1.50                
Senior Credit Facility | Line of credit | Revolving loan agreement                      
Long-term Debt, Fiscal Year Maturity [Abstract]                      
Line of credit facility, current borrowing capacity   $ 15,000         $ 15,000        
Senior Credit Facility | Line of credit | Term loan                      
Long-term Debt, Fiscal Year Maturity [Abstract]                      
Line of credit facility, current borrowing capacity   $ 65,000                  
Debt Instrument, Security Interest Pledged, Percentage     65.00%                
Senior Credit Facility | Line of credit | Base Rate | Maximum | Line of credit                      
Debt Instrument [Line Items]                      
Debt instrument, basis spread on variable rate     2.25%                
Senior Credit Facility | Line of credit | Base Rate | Minimum | Line of credit                      
Debt Instrument [Line Items]                      
Debt instrument, basis spread on variable rate     1.75%                
Mortgage Loan On Headquarters Facility | Mortgages | London Interbank Offered Rate (LIBOR)                      
Debt Instrument [Line Items]                      
Debt instrument, basis spread on variable rate           2.00%          
Debt Instrument, Redemption, Period One | Senior Credit Facility | Line of credit | Term loan                      
Long-term Debt, Fiscal Year Maturity [Abstract]                      
Repayments of Long-term loan $ 6,000                    
Debt Instrument, Redemption, Period Six | Senior Credit Facility | Line of credit | Line of credit                      
Debt Instrument [Line Items]                      
Line of Credit Facility, Covenant Compliance, Maximum Consolidated Leverage Ratio               1.50      
Long-term Debt, Fiscal Year Maturity [Abstract]                      
Line of Credit Facility, Covenant Compliance, Maximum Consolidated Fixed Charge Coverage Ratio             1.25        
Subsequent Event [Member] | Debt Instrument, Redemption, Period Three [Member] | Senior Credit Facility | Line of credit | Term loan                      
Long-term Debt, Fiscal Year Maturity [Abstract]                      
Debt Instrument, Periodic Payment, Principal                   $ 575