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Commitments and Contingencies Royalties (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Commitments and Contingencies Disclosure [Abstract]      
Royalty Expense $ 264 $ 390 $ 500
Disposal group, including discontinued operation, royalty expense $ 1