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Fair Value Measurement - Financial Assets and Liabilities Accounted for at Fair Value on Recurring Basis (Details) - USD ($) | Sep. 30, 2017 | Dec. 31, 2016
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Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Fair Value, Level 1 to Level 2 Transfers, Amount | $ 0 |
Investments under executive deferred compensation plan | 23,646,000 | $ 22,037,000
Private equity securities | 33,000 | 35,000
Private equity securities measured at net asset value | 5,113,000 | 5,498,000
Obligations under executive deferred compensation plan | 23,646,000 | 22,037,000
Foreign currency forward contracts, liabilities | 25,000 | 182,000
Quoted Prices in Active Markets for Identical Items (Level 1) |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Investments under executive deferred compensation plan | 23,646,000 | 22,037,000
Private equity securities | 33,000 | 35,000
Private equity securities measured at net asset value | 0 | 0
Obligations under executive deferred compensation plan | 23,646,000 | 22,037,000
Foreign currency forward contracts, liabilities | 0 | 0
Quoted Prices in Active Markets for Similar Items (Level 2) |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Investments under executive deferred compensation plan | 0 | 0
Private equity securities | 0 | 0
Private equity securities measured at net asset value | 0 | 0
Obligations under executive deferred compensation plan | 0 | 0
Foreign currency forward contracts, liabilities | 25,000 | 182,000
Unobservable Inputs (Level 3) |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Investments under executive deferred compensation plan | 0 | 0
Private equity securities | 0 | 0
Private equity securities measured at net asset value | 0 | 0
Obligations under executive deferred compensation plan | 0 | 0
Foreign currency forward contracts, liabilities | $ 0 | $ 0

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