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Commitments (Details Textual) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Rent Expense $ 10.7 $ 9.9 $ 10.1
Royalty expense, percentage of net sales 7.30% 7.20% 7.10%
Royalty Expense $ 37.8 $ 33.8 $ 35.6