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Income taxes, income tax contingency (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014
Income Tax Contingency [Line Items] |  |  |
Unrecognized tax benefits, current | $ 500,000 | $ 318,000 |
Unrecognized tax benefits, noncurrent | 1,300,000 | 1,064,000 |
Gross unrecognized tax benefits activity [Roll Forward] |  |  |
Gross unrecognized tax benefits, beginning balance | 1,457,000 | 1,248,000 | $ 1,121,000
Increases for tax positions for prior years | 5,000 | 150,000 | 150,000
Decreases for tax positions for prior years | 0 | 0 | 0
Increases for tax positions for current year | 299,000 | 59,000 | 102,000
Settlements | 0 | 0 | 0
Lapse of statute of limitations | 0 | 0 | (125,000)
Gross unrecognized tax benefits, ending balance | $ 1,761,000 | $ 1,457,000 | $ 1,248,000
U.S. Federal Tax Authority [Member] | Minimum [Member] |  |  |
Gross unrecognized tax benefits activity [Roll Forward] |  |  |
Open tax year | 2011 |  |
Federal income tax year selected for audit | 2011 |  |
U.S. Federal Tax Authority [Member] | Maximum [Member] |  |  |
Gross unrecognized tax benefits activity [Roll Forward] |  |  |
Open tax year | 2015 |  |
Federal income tax year selected for audit | 2012 |  |
United Kingdom Tax Authority [Member] | Minimum [Member] |  |  |
Gross unrecognized tax benefits activity [Roll Forward] |  |  |
Open tax year | 2007 |  |
United Kingdom Tax Authority [Member] | Maximum [Member] |  |  |
Gross unrecognized tax benefits activity [Roll Forward] |  |  |
Open tax year | 2015 |  |

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