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Income Taxes Unrecognized tax benefits (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Unrecognized tax benefits [Abstract]        
Unrecognized Tax Benefits, Increases Resulting from Prior Period Tax Positions $ 77 $ 25 $ 217  
Unrecognized Tax Benefits, Increases Resulting from Current Period Tax Positions 345 345 661  
Unrecognized Tax Benefits, Decrease Resulting from Prior Period Tax Positions (46) (2,399) 0  
Unrecognized Tax Benefits, Decreases Resulting from Settlements with Taxing Authorities 0 (314) (2,113)  
Unrecognized Tax Benefits, Reductions Resulting from Lapse of Applicable Statute of Limitations (148) 0 (194)  
Unrecognized Tax Benefits $ 2,000 $ 1,772 $ 4,115 $ 5,544