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Summary of Significant Accounting Policies - Research and Development (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Research and Development      
Customer-funded service sales $ 3,002 $ 3,806 $ 10,302
Customer-funded costs included in costs of service sales $ 1,546 $ 2,633 $ 2,387