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Employee Stock Purchase Plan Stock Options and Warrants - Narrative (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Millions
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Compensation cost not yet recognized $ 7.9    
Compensation cost not yet recognized, period of recognition 3 years 5 months 12 days    
Options granted in period (in shares) 880 618 666
Fair value of options, net of forfeitures $ 5.2 $ 3.7 $ 2.8
Options granted in period, weighted average grant date fair value (in dollars per share) $ 5.94 $ 5.98 $ 4.27
2006 Incentive Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares available for grant (in shares) 1,700    
Employee Stock Purchase Plan Qualified      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares available for grant (in shares) 151    
Purchase price for ESPP, percent of market price 95.00%    
Stock Options | 2006 Incentive Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Option contractual life 7 years    
Stock Options | Minimum | 2006 Incentive Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Award vesting period 3 years    
Stock Options | Maximum | 2006 Incentive Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Award vesting period 5 years    
Performance Shares | 2006 Incentive Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Award vesting period 1 year