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Commitments and Contingencies - Deferred Compensation (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
U.S. defined contribution plan    
Deferred Compensation Plans    
Employer match for each 1% of the participants contributions up to 6% of the participants contributions (as a percent) 50.00%  
Percentage of eligible compensation up to 6% of the eligible compensation, matched 50% by employer 1.00%  
Employer contribution limit per calendar year (as a percent of compensation) 6.00%  
NQDC plan | Other long-term liabilities    
Deferred Compensation Plans    
Deferred compensation payable $ 4.3 $ 3.3