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Consolidated Balance Sheets (Parenthetical) - $ / shares
Sep. 30, 2017
Dec. 31, 2016
Sep. 30, 2016
Statement of Financial Position [Abstract]      
Common stock, par value (in dollars per share) $ 0.01 $ 0.01 $ 0.01
Common stock, authorized 100,000,000 100,000,000 100,000,000
Common stock, issued 34,174,009 34,023,850 33,590,880
Common stock, outstanding 34,174,009 34,023,850 33,590,880