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Income Taxes - Research and Development Tax Credit and IRS Examination (Details) - USD ($)
$ in Thousands
3 Months Ended 12 Months Ended
Dec. 31, 2015
Dec. 31, 2015
Dec. 31, 2014
Income taxes      
Tax benefits from release of uncertain tax positions   $ 70 $ 1,823
Research and Development Tax Credit      
Income taxes      
Tax benefit following conclusion of IRS examination $ 1,100    
Completion of IRS review of 2008 amended income tax return      
Income taxes      
Tax benefits from release of uncertain tax positions     $ 1,400