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Employee and Non-Employee Director Stock and Benefit Plans - Stock Based Awards (Details) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2010
Employee and non-employee director stock and benefit plans        
Stock options exercised 24,498      
Share-based awards, additional disclosures        
Total intrinsic value of stock options exercised $ 220 $ 370 $ 74  
Weighted average grant date fair value of stock options granted during period, per share (in dollars per share) $ 16.18      
Cash received from stock option exercises $ 208 298 203  
Stock options        
Employee and non-employee director stock and benefit plans        
Share-based compensation expense 300   100  
Tax benefit related to share-based compensation expense $ 100 100 100  
Tax shortfall from stock options exercises and cancellation   $ 600 $ 100  
Stock options exercised 42,665 71,455 14,228  
Share-based awards, additional disclosures        
Intrinsic value of exercisable stock options $ 0      
Unrecognized compensation costs $ 700      
Weighted average period over which unrecognized compensation costs are expected to be recognized 2 years      
Restricted Stock Unit Awards        
Employee and non-employee director stock and benefit plans        
Share-based compensation expense $ 24,900 $ 16,400 $ 15,000  
Tax benefit related to share-based compensation expense 8,900 $ 6,600 $ 6,000  
Share-based awards, additional disclosures        
Unrecognized compensation costs $ 23,700      
Weighted average period over which unrecognized compensation costs are expected to be recognized 1 year 9 months 18 days      
Stock units | Majestic Research Corp.        
Share-based awards, additional disclosures        
Number of shares vested or shall vest without performance metrics       319,674
Number of shares vested or shall vest with performance metrics       415,579
2007 Plan | Restricted Stock Unit Awards | Maximum        
Share-based awards, additional disclosures        
Cliff vesting on anniversary from date of grant, awards granted since 2007 4 years      
2007 Plan | Restricted Stock Unit Awards | Minimum        
Share-based awards, additional disclosures        
Cliff vesting on anniversary from date of grant, awards granted since 2007 3 years      
Equity Deferral Award Program (EDA)        
Share-based awards, additional disclosures        
Percentage of matching units granted on grant date prior to 2012 10.00%      
Equity Deferral Award Program (EDA) | Time-based award        
Share-based awards, additional disclosures        
Period during which the Company's average stock price is assessed in determining the vesting of an award to the recipient 90 days      
Percentage of matching units granted on third anniversary of grant date 100.00%      
Period preceding the grant date during which the entity's average stock price is assessed in determining the vesting of an award to the recipient 90 days      
Equity Deferral Award Program (EDA) | Market-based award        
Share-based awards, additional disclosures        
Period during which the Company's average stock price is assessed in determining the vesting of an award to the recipient 90 days      
Percentage of deferred compensation representing the match that vests on fourth anniversary 100.00%      
Period preceding the grant date during which the entity's average stock price is assessed in determining the vesting of an award to the recipient 90 days