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Income Taxes, Uncertainties in Income Taxes (Details) - USD ($)
3 Months Ended 12 Months Ended
Dec. 31, 2014
Dec. 31, 2016
Dec. 31, 2015
Reconciliation of Unrecognized Tax Benefits [Roll Forward]      
Balance at beginning of year   $ 2,368,000 $ 2,460,000
Increase related to prior year tax positions   8,000 0
Decrease related to prior year tax positions   (4,000) (78,000)
Increase related to current year tax positions   82,000 12,000
Decrease related to lapse of statute of limitations   (169,000) (26,000)
Balance at end of year $ 2,460,000 2,285,000 2,368,000
Unrecognized tax benefits that would impact effective tax rate   300,000 400,000
Unrecognized Tax Benefits, Income Tax Penalties and Interest Accrued [Abstract]      
Income tax penalties and interest accrued 176,000 176,000 $ 136,000
Recognized tax benefits where significant change is reasonably possible in next 12 months   235,000  
Reserve related to India transfer pricing $ 269,000 111,000  
Additional increase to reserve representing accrued interest   $ 3,000