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Debt Long term debt (Tables)
 9 Months Ended
Sep. 30, 2016
Long-term Debt, Unclassified [Abstract]  
Schedule of Maturities of Long-term Debt [Table Text Block]
Estimated future principal payments, interest, and fees due under the Loan and Security Agreement are as follows:
 
Years Ending December 31,
(in millions)
2016
$
0.1

2017
3.5

2018
3.1

Total
$
6.7