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Stock-Based Compensation Expense - Stock-Based Incentive Plans (Details)
12 Months Ended
Dec. 31, 2016
plan
Jan. 26, 2013
shares
Stock-Based Incentive Plans    
Number of stock-based incentive plans 5  
2013 Plan    
Stock-Based Incentive Plans    
Common stock initial reserve | shares   1,333,333
2013 Plan | Maximum    
Stock-Based Incentive Plans    
Period for automatic increase in reserve 10 years  
Percent of common stock shares by which the reserve automatically increases 4.00%  
ScanScout    
Stock-Based Incentive Plans    
Number of stock-based incentive plans assumed as part of acquisition 2