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Income Taxes - Income (Loss) from Continuing Operations Before Income Taxes (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Income Tax Disclosure [Abstract]      
United States $ 17,010 $ 19,546 $ 21,074
Foreign (9,015) 2,316 (6,991)
Income from continuing operations before income taxes $ 7,995 $ 21,862 $ 14,083