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Debt (Tables)
12 Months Ended
Dec. 31, 2016
Debt Disclosure [Abstract]  
Aggregate mandatory payments due by year
As of December 31, 2016, the aggregate mandatory principal payments were as follows:

Year
 
Payments Due
2017
 

$4.1
 million
2018
 

$4.8
 million
2019
 

$5.5
 million
2020
 

$226.8
 million