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Derivatives - Foreign Currency Derivative Contracts (Details) - Not Designated as Hedging Instrument
$ in Thousands
Sep. 30, 2017
USD ($)
$ / €
$ / £
$ / NOK
$ / CAD
Dec. 31, 2016
USD ($)
$ / €
$ / £
$ / NOK
$ / CAD
Foreign currency contracts | Canadian dollar    
Derivative [Line Items]    
Notional Amount $ 5,740 $ 4,553
Contractual Exchange Rate | $ / CAD 1.2194 1.3179
Foreign currency contracts | Euro    
Derivative [Line Items]    
Notional Amount $ 5,982 $ 4,753
Contractual Exchange Rate | $ / € 1.1963 1.0563
Foreign currency contracts | Norwegian krone    
Derivative [Line Items]    
Notional Amount $ 5,338 $ 3,643
Contractual Exchange Rate | $ / NOK 7.8675 8.5101
Foreign currency contracts | Pound sterling    
Derivative [Line Items]    
Notional Amount $ 7,961 $ 3,908
Contractual Exchange Rate | $ / £ 1.3268 1.2607
Foreign currency contracts, settled October 13, 2017 | Euro    
Derivative [Line Items]    
Notional Amount $ 2,399  
Contractual Exchange Rate | $ / € 1.1993  
Foreign currency contracts, settled January 13, 2017 | Euro    
Derivative [Line Items]    
Notional Amount   $ 2,558
Contractual Exchange Rate | $ / €   1.0659