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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
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