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Consolidated Statements of Comprehensive Income (Parenthetical) - USD ($)
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Statement of Comprehensive Income [Abstract]      
Tax expense recognized on the amortization of prior service cost $ (29,000) $ (27,000) $ (24,000)
Tax expense recognized on the net gain (loss) 178,000 73,000 (1,997,000)
Other Comprehensive Income (Loss), Unrealized Gain (Loss) on Derivatives Arising During Period, Tax $ 496,000 $ (150,000) $ (22,000)