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Stockholders' Equity and Stock Plans - Options Outstanding Rollforward (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Number of Shares        
Options outstanding, beginning balance (in shares) 185,269 194,672 220,456  
Granted (in shares) 32,637 28,320 26,421  
Cancelled, expired or forfeited (in shares)   (652) (2,790)  
Exercised (in shares) (36,117) (37,071) (49,415)  
Options outstanding, ending balance (in shares) 181,789 185,269 194,672 220,456
Exercisable (vested), ending balance (in shares) 103,211 114,581 133,153  
Weighted Average Exercise Price        
Options outstanding, beginning balance (usd per share) $ 38.35 $ 35.14 $ 32.74  
Granted (usd per share) 49.37 50.70 44.83  
Cancelled, expired or forfeited (usd per share)   48.38 39.01  
Exercised (usd per share) 33.98 30.72 29.39  
Options outstanding, ending balance (usd per share) 41.20 38.35 35.14 $ 32.74
Exercisable (vested), ending balance (usd per share) $ 36.65 $ 34.12 $ 32.31  
Aggregate Intrinsic Value        
Options outstanding, beginning balance $ 2,788 $ 3,398 $ 2,349  
Exercised 661 755 771  
Options outstanding, ending balance 5,190 2,788 3,398 $ 2,349
Exercisable (vested) at year end $ 3,416 $ 2,209 $ 2,701  
Weighted Average Grant-Date Fair Value        
Granted (usd per share) $ 10.11 $ 12.21 $ 12.04  
Weighted Average Remaining Contractual Term        
Options outstanding (in years) 5 years 9 months 7 days 5 years 4 years 5 months 22 days 4 years 18 days
Exercisable (vested) 4 years 2 months 4 days 3 years 2 months 15 days 2 years 10 months 16 days