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Long-term Debt and Line of Credit - Provisions of the Term Loan (Details) - USD ($)
3 Months Ended 12 Months Ended
Dec. 31, 2016
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Aug. 05, 2015
Debt Instrument [Line Items]          
Quarterly principal payments   $ 8,400,000      
Repayments of Debt   63,084,000 $ 42,955,000 $ 1,557,000  
Current portion of debt $ 11,800,000 11,800,000      
Non-current portion of debt 84,800,000 84,800,000      
Term Loan | Line of Credit          
Debt Instrument [Line Items]          
Line of credit facility, amount outstanding 96,600,000 96,600,000      
Repayments of Debt   1,600,000      
Line of credit facility, maximum borrowing capacity 135,000,000 135,000,000     $ 135,000,000
Revolving Credit Facility          
Debt Instrument [Line Items]          
Line of credit facility, amount outstanding 8,000,000 $ 8,000,000      
Repayments of Debt $ 53,000,000        
Revolving Credit Facility | Line of Credit          
Debt Instrument [Line Items]          
Line of credit facility, maximum borrowing capacity         $ 50,000,000
LIBOR | Term Loan | Line of Credit          
Debt Instrument [Line Items]          
Effective interest rate 3.125% 3.125%