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Summary of significant accounting policies - Additional Information (Detail) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014
Property, Plant and Equipment [Line Items] |  |  |
Advertising costs incurred | $ 2.7 | $ 4.9 | $ 8.0
Maximum estimated revenue-producing lives of computer software products from the date of release | 3 years |  |
Period of recognition in changes in fair value of plan assets | 4 years |  |
Intelligent Processing Solutions Ltd. |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Percentage of ownership interest | 51.00% |  |
Buildings | Minimum |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Estimated useful lives | 20 years |  |
Buildings | Maximum |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Estimated useful lives | 50 years |  |
Machinery and office equipment | Minimum |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Estimated useful lives | 4 years |  |
Machinery and office equipment | Maximum |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Estimated useful lives | 7 years |  |
Rental equipment |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Estimated useful lives | 4 years |  |
Internal-use software | Minimum |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Estimated useful lives | 3 years |  |
Internal-use software | Maximum |  |  |
Property, Plant and Equipment [Line Items] |  |  |
Estimated useful lives | 10 years |  |

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- Definition Amount charged to advertising expense for the period, which are expenses incurred with the objective of increasing revenue for a specified brand, product or product line. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 720 -SubTopic 35 -Section 50 -Paragraph 1 -URI http://asc.fasb.org/extlink&oid=6420018&loc=d3e36677-107848 + Details
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