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Convertible Subordinated Notes (Details) - USD ($)
shares in Thousands
3 Months Ended
Mar. 31, 2018
Mar. 31, 2017
Dec. 31, 2017
Sep. 30, 2016
Mar. 19, 2014
Debt Instrument [Line Items]          
Effect of dilutive securities, Convertible junior subordinated debentures (in shares) 1,230 1,090      
Carrying Values of Liability and Equity Components, Convertible Subordinated Notes          
Debt issuance costs $ (891,000)   $ (967,000)    
Accumulated Amortization, Debt Issuance Costs 4,518,000   4,442,000    
Amortization of Debt Issuance Costs 208,000 $ 203,000      
Convertible Subordinated Notes [Member]          
Debt Instrument [Line Items]          
Stated interest rate percentage         2.75%
Carrying Values of Liability and Equity Components, Convertible Subordinated Notes          
Convertible subordinated notes, principal amount 143,750,000   143,750,000   $ 143,750,000
Unamortized discount of liability component (16,398,000)   (17,559,000)    
Debt issuance costs (1,619,000)   (1,750,000)    
Accumulated Amortization, Debt Issuance Costs 1,746,000   1,359,000    
Carrying value of the liability component 125,733,000   124,441,000    
Equity component carrying value 17,973,000   $ 17,973,000    
Convertible subordinated notes, fair value 188,600,000        
Contractual coupon interest expense 1,000,000 1,000,000      
Accretion of discount, convertible subordinated notes $ 1,200,000 1,000,000      
Effective interest rate percentage 2.75%     6.75%  
Amortization of Debt Issuance Costs $ 100,000 $ 100,000