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Commitments and Contingencies (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
Lease income and rental expense from operating leases      
Rental and service income - operating leases $ 90,333 $ 95,254 $ 97,059
Rental expense $ 16,459 $ 16,723 $ 15,214