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Allowance for Doubtful Accounts (Tables)
 12 Months Ended
Dec. 31, 2016
Receivables [Abstract]  
Allowance for Doubtful Accounts Roll Forward
Activity in the allowance for doubtful accounts was as follows:
 
 
Years ended December 31,
 
 
2016
 
2015
 
2014
Balance, beginning of year
 
$
1,417

 
$
1,844

 
$
3,686

Provision (net of recovery)
 
898

 
346

 
(306
)
Amounts written off, net of recoveries
 
(486
)
 
(773
)
 
(1,536
)
Balance, end of year
 
$
1,829

 
$
1,417

 
$
1,844