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Income Taxes - Reconciliation of Beginning and Ending Amount of Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]      
Beginning balance January 1 $ 7,228 $ 3,619 $ 5,124
Gross increase due to non-U.S. acquisitions 0 3,772 0
Gross increases for tax positions of prior years 201 1,256 834
Gross decreases for tax positions of prior years (93) 0 (51)
Settlements (2,014) (667) (2,057)
Lapse of statute of limitations (1,547) (752) (231)
Ending balance December 31 $ 3,775 $ 7,228 $ 3,619