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Income Taxes (Details 5) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Total Income Tax Expenses [Line Items]      
Income from continuing operations $ 10,671 $ 11,405 $ 21,591
Other comprehensive gain (loss) 6 (168) 43
Excess tax benefits allocated to additional paid-in capital from share-based compensation 0 (771) (1,232)
Previously unrecognized excess tax benefits adjusted to retained earnings (141) 0 0
Total income tax expense $ 10,536 $ 10,466 $ 20,402