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Summary of Significant Accounting Policies - Concentration of Credit Risk (Details) - USD ($)
$ in Millions
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Concentration of Credit Risk      
Allowance for doubtful accounts $ 7.9 $ 9.1  
Customer concentration | Accounts receivable      
Concentration of Credit Risk      
Threshold for disclosure of risk concentrations (as a percent) 10.00% 10.00%  
Customer concentration | Total revenue      
Concentration of Credit Risk      
Threshold for disclosure of risk concentrations (as a percent) 10.00% 10.00% 10.00%