Income Taxes (Details 3)	12 Months Ended
	Dec. 31, 2016	Dec. 31, 2015	Dec. 31, 2014
Income Tax Disclosure [Abstract]
Statutory federal tax rate	35.00%	35.00%	35.00%
Foreign rate differential	(11.30%)	(7.80%)	(12.70%)
Foreign, federal and state income tax credits	(1.20%)	(2.10%)	(1.70%)
State taxes	2.30%	2.40%	2.10%
Effective Income Tax Rate Reconciliation, Tax Settlement, Foreign, Percent	14.40%
Effective Income Tax Rate Reconciliation, Change in Deferred Tax Assets Valuation Allowance, Percent	0.00%	(6.40%)	(0.10%)
Other	0.40%	(0.20%)	(2.90%)
Effective tax rate	39.60%	20.90%	19.70%