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Income taxes, income tax contingency (Details) - USD ($)	12 Months Ended
	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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- Definition

The gross amount of unrecognized tax benefits pertaining to uncertain tax positions taken in tax returns, and classified as a current liability as of the balance sheet date.

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The gross amount of unrecognized tax benefits pertaining to uncertain tax positions taken in tax returns, and classified as a non-current liability as of the balance sheet date.

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Tax year being audited in the income tax examination, in CCYY format.

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Tax year that remains open to examination under enacted tax laws, in CCYY format.

+ References

Reference 1: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 15
-Subparagraph (e)
-URI http://asc.fasb.org/extlink&oid=65882285&loc=d3e32718-109319

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Amount of decrease in unrecognized tax benefits resulting from lapses of applicable statutes of limitations.

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