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Revenue Recognition - Impacts of adoption in the current period - Narrative (Details) - USD ($)
$ in Thousands
Dec. 31, 2018
Jan. 01, 2018
Dec. 31, 2017
Contracts      
Contract asset, current $ 1,900   $ 1,176
Contract asset, noncurrent 802   453
Contract liability 13,787   9,912
Deferred income taxes 10,276   31,732
Retained earnings 563,593   552,948
Minority interest 127,937   $ 141,496
Prepayments and other current assets      
Contracts      
Short-term contract acquisition costs 1,400    
Other assets      
Contracts      
Long-term contract acquisition costs 1,000    
Change | ASU 2014-09      
Contracts      
Contract asset   $ 1,600  
Contract acquisition costs   1,500  
Deferred income taxes 302 300  
Retained earnings 2,481 1,500  
Minority interest $ 1,853 1,100  
Change | ASU 2014-09 | Prepayments and other current assets      
Contracts      
Contract asset, current   1,200  
Short-term contract acquisition costs   900  
Change | ASU 2014-09 | Other assets      
Contracts      
Contract asset, noncurrent   400  
Long-term contract acquisition costs   600  
Change | ASU 2014-09 | Advance Payments And Deposits      
Contracts      
Contract liability   $ 200