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Commitments and contingencies (Details Textual) - USD ($) | 12 Months Ended
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Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014
Commitments and Contingencies [Line Items] |  |  |
Estimated Litigation Liability | $ 8,000,000 |  |
Litigation Settlement, Expense | 100,000 |  |
Operating Leases, Rent Expense | 2,700,000 | $ 2,800,000 | $ 3,000,000
Property, Plant and Equipment, Net, Total | 5,397,000 | $ 4,723,000 |
Liens Under Foreign Tax Authority [Member] |  |  |
Commitments and Contingencies [Line Items] |  |  |
Property, Plant and Equipment, Net, Total | $ 500,000 |  |

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- Definition Aggregate carrying amount of the estimated litigation liability for known or estimated probable loss from litigation, which may include attorneys' fees and other litigation costs. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 450 -SubTopic 20 -Section 50 -Paragraph 1 -URI http://asc.fasb.org/extlink&oid=25496072&loc=d3e14326-108349 Reference 2: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.25) -URI http://asc.fasb.org/extlink&oid=6877327&loc=d3e13212-122682 + Details
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