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Consolidated Balance Sheets (Parentheticals) - $ / shares
Dec. 31, 2016
Dec. 31, 2015
Statement of Financial Position [Abstract]    
Common stock par value (in dollars per share) $ 0.01 $ 0.01
Common stock, shares authorized (in shares) 200,000,000 200,000,000
Common stock, shares issued (in shares) 99,843,094 99,377,391
Treasury stock, shares (in shares) 15,162,050 15,302,345