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Revenue Recognition - Unbilled Receivables (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2017
Oct. 01, 2016
Sep. 30, 2017
Oct. 01, 2016
Dec. 31, 2016
Roll forward of the unbilled receivables allowance          
Balance at beginning of period     $ 1,720 $ 2,354 $ 2,354
Increases to reserves     1,727   2,102
Amounts written off     (914)   (2,736)
Effects of foreign currency translation     (2)    
Balance at end of period $ 2,531   2,531   1,720
Bad debt expense     2,852   2,156
Reimbursable expenses $ 9,675 $ 8,969 $ 29,463 $ 25,510  
Selling, general and administrative expenses          
Roll forward of the unbilled receivables allowance          
Bad debt expense         $ 1,100