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Employee Stock Purchase Plan Stock Options and Warrants - Options Outstanding (Details)
shares in Thousands
12 Months Ended
Dec. 31, 2016
$ / shares
shares
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise, lower (in dollars per share) $ 9.95
Range of exercise, upper (in dollars per share) $ 22
Number outstanding (in shares) | shares 2,817
Number exercisable (in shares) | shares 1,033
$9.95 - $13.16  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise, lower (in dollars per share) $ 9.95
Range of exercise, upper (in dollars per share) $ 13.16
Number outstanding (in shares) | shares 772
Weighted Average Remaining Contractual Life (in years) 3 years 8 months 12 days
Weighted average exercise price (in dollars per share) $ 12.11
Number exercisable (in shares) | shares 393
Weighted average exercise price (in dollars per share) $ 12.23
$13.75 - $16.05  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise, lower (in dollars per share) 13.75
Range of exercise, upper (in dollars per share) $ 16.05
Number outstanding (in shares) | shares 1,181
Weighted Average Remaining Contractual Life (in years) 4 years 8 days
Weighted average exercise price (in dollars per share) $ 14.84
Number exercisable (in shares) | shares 533
Weighted average exercise price (in dollars per share) $ 13.77
$16.41 - $20.27  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise, lower (in dollars per share) 16.41
Range of exercise, upper (in dollars per share) $ 20.27
Number outstanding (in shares) | shares 747
Weighted Average Remaining Contractual Life (in years) 5 years 6 months 14 days
Weighted average exercise price (in dollars per share) $ 18.35
Number exercisable (in shares) | shares 103
Weighted average exercise price (in dollars per share) $ 18.06
$21.71 - $22.00  
Share-based Compensation, Shares Authorized under Stock Option Plans, Exercise Price Range [Line Items]  
Range of exercise, lower (in dollars per share) 21.71
Range of exercise, upper (in dollars per share) $ 22.00
Number outstanding (in shares) | shares 117
Weighted Average Remaining Contractual Life (in years) 6 years 6 months 14 days
Weighted average exercise price (in dollars per share) $ 21.94
Number exercisable (in shares) | shares 4
Weighted average exercise price (in dollars per share) $ 21.98