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Derivatives - Foreign Currency Derivative Contracts (Details) - Not Designated as Hedging Instrument $ in Thousands | Dec. 31, 2016 USD ($) $ / € $ / CAD $ / £ $ / NOK | Dec. 31, 2015 USD ($) $ / € $ / CAD $ / £ $ / NOK
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Canadian dollar | Foreign currency contracts, settlement date March 14, 2017 |  |
Derivative [Line Items] |  |
Notional amount | $ 4,553 |
Contractual exchange rate (percent) | $ / CAD | 1.3179 |
Canadian dollar | Foreign currency contracts, settlement date January 13, 2016 |  |
Derivative [Line Items] |  |
Notional amount |  | $ 5,091
Contractual exchange rate (percent) | $ / CAD |  | 1.3751
Euro | Foreign currency contracts, settlement date March 14, 2017 |  |
Derivative [Line Items] |  |
Notional amount | $ 4,753 |
Contractual exchange rate (percent) | $ / € | 1.0563 |
Euro | Foreign currency contracts, settlement date January 13, 2017 |  |
Derivative [Line Items] |  |
Notional amount | $ 2,558 |
Contractual exchange rate (percent) | $ / € | 1.0659 |
Euro | Foreign currency contracts, settlement date January 13, 2016 |  |
Derivative [Line Items] |  |
Notional amount |  | $ 19,706
Contractual exchange rate (percent) | $ / € |  | 1.0948
Norwegian kroner | Foreign currency contracts, settlement date March 14, 2017 |  |
Derivative [Line Items] |  |
Notional amount | $ 3,643 |
Contractual exchange rate (percent) | $ / NOK | 8.5101 |
Norwegian kroner | Foreign currency contracts, settlement date January 13, 2016 |  |
Derivative [Line Items] |  |
Notional amount |  | $ 11,498
Contractual exchange rate (percent) | $ / NOK |  | 8.6973
Pound sterling | Foreign currency contracts, settlement date March 14, 2017 |  |
Derivative [Line Items] |  |
Notional amount | $ 3,908 |
Contractual exchange rate (percent) | $ / £ | 1.2607 |
Pound sterling | Foreign currency contracts, settlement date January 13, 2016 |  |
Derivative [Line Items] |  |
Notional amount |  | $ 7,516
Contractual exchange rate (percent) | $ / £ |  | 1.5031

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- Definition Aggregate notional amount specified by the derivative(s). Expressed as an absolute value. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher SEC -Name Regulation S-X (SX) -Number 210 -Article 12 -Section 13 -Sentence Column B + Details
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