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Derivatives - Foreign Currency Derivative Contracts (Details) - Not Designated as Hedging Instrument $ in Thousands | Jun. 30, 2017 USD ($) $ / £ $ / € $ / NOK $ / CAD | Dec. 31, 2016 USD ($) $ / £ $ / € $ / NOK $ / CAD
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Foreign currency contracts | Canadian dollar |  |
Derivative [Line Items] |  |
Notional Amount | $ 6,040 | $ 4,553
Contractual Exchange Rate | $ / CAD | 1.3245 | 1.3179
Foreign currency contracts | Euro |  |
Derivative [Line Items] |  |
Notional Amount | $ 7,747 | $ 4,753
Contractual Exchange Rate | $ / € | 1.1227 | 1.0563
Foreign currency contracts | Norwegian krone |  |
Derivative [Line Items] |  |
Notional Amount | $ 9,472 | $ 3,643
Contractual Exchange Rate | $ / NOK | 8.4461 | 8.5101
Foreign currency contracts | Pound sterling |  |
Derivative [Line Items] |  |
Notional Amount | $ 11,479 | $ 3,908
Contractual Exchange Rate | $ / £ | 1.2755 | 1.2607
Foreign currency contracts, settled January 13, 3017 | Euro |  |
Derivative [Line Items] |  |
Notional Amount |  | $ 2,558
Contractual Exchange Rate | $ / € |  | 1.0659
Foreign currency contracts, settled July 14, 2017 | Euro |  |
Derivative [Line Items] |  |
Notional Amount | $ 2,260 |
Contractual Exchange Rate | $ / € | 1.1302 |

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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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