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Lease Commitments
12 Months Ended
Dec. 31, 2016
Leases [Abstract]  
Leases of Lessee Disclosure
Lease Commitments
The Company incurred $9,527, $11,147, and $11,375 of rental expense under operating leases for the years ended December 31, 2016, 2015, and 2014, respectively. Certain leases contain rent escalation clauses and lease concessions that require additional rental payments in the later years of the term. Rent expense for these types of leases is recognized on a straight-line basis over the minimum lease term. In addition, the Company has the right, but no obligation, to renew certain leases for various renewal terms.
The following table summarizes the future minimum lease payments for non-cancelable operating leases as of December 31, 2016:
2017
$
9,800

2018
8,400

2019
7,200

2020
5,300

2021
3,800

Thereafter
6,800

Total future minimum lease payments
$
41,300