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Borrowing Arrangements - Debt Agreements (Details)
1 Months Ended 3 Months Ended 6 Months Ended
Jun. 30, 2017
JPY (¥)
Nov. 02, 2016
USD ($)
Oct. 04, 2016
USD ($)
Feb. 28, 2017
USD ($)
Dec. 31, 2016
USD ($)
Jun. 30, 2017
USD ($)
Jun. 30, 2016
USD ($)
Jun. 30, 2017
USD ($)
Dec. 31, 2016
JPY (¥)
Dec. 31, 2016
USD ($)
Mar. 24, 2016
JPY (¥)
Borrowing arrangements                      
Amount borrowed           $ 76,456,000 $ 58,334,000        
Amount shown as current portion of long-term debt               $ 5,000,000   $ 5,000,000  
First Amended and Restated Credit Agreement                      
Borrowing arrangements                      
Maximum borrowing capacity     $ 400,000,000                
Issuance costs incurred     800,000                
Debt issuance costs expensed     100,000                
Permitted annual dividends       $ 14,000,000              
First Amended and Restated Credit Agreement | Minimum                      
Borrowing arrangements                      
Rate of interest at balance sheet date (as a percent) 3.06%           1.70% 3.06%      
First Amended and Restated Credit Agreement | Maximum                      
Borrowing arrangements                      
Rate of interest at balance sheet date (as a percent) 3.31%           1.86% 3.31%      
First Amended and Restated Credit Agreement | Permitted dividends | Minimum                      
Borrowing arrangements                      
Sum of availability under Credit Agreement and amount of U.S. cash on hand       $ 50,000,000              
Japanese Credit Agreement | CCJ                      
Borrowing arrangements                      
Maximum borrowing capacity | ¥                     ¥ 2,000,000,000
Quarterly nonrefundable commitment fee payable (as a percent)           0.23%          
Average interest rate (as a percent) 1.80%             1.80%      
Amount outstanding ¥ 250,000,000             $ 2,200,000 ¥ 0 0  
Availability under the credit facility ¥ 1,750,000,000             15,600,000 ¥ 2,000,000,000 17,100,000  
Revolving credit facility | First Amended and Restated Credit Agreement                      
Borrowing arrangements                      
Maximum borrowing capacity     300,000,000                
Increase in borrowing capacity that may be requested     100,000,000                
Quarterly nonrefundable commitment fee payable (as a percent) 0.25%                    
Amount borrowed   $ 160,000,000     $ 160,000,000            
Amount outstanding               146,600,000   125,000,000  
Availability under the credit facility               150,900,000   172,500,000  
Letters of credit | First Amended and Restated Credit Agreement                      
Borrowing arrangements                      
Maximum borrowing capacity     75,000,000                
Amount outstanding               2,500,000   2,500,000  
Swing loans | First Amended and Restated Credit Agreement                      
Borrowing arrangements                      
Maximum borrowing capacity     15,000,000                
Term loan facility | First Amended and Restated Credit Agreement                      
Borrowing arrangements                      
Maximum borrowing capacity     100,000,000                
Amount borrowed     $ 100,000,000                
Amount shown as current portion of long-term debt               5,000,000   5,000,000  
Amount outstanding               97,500,000   100,000,000  
Availability under the credit facility               0      
Term loan facility | First Amended and Restated Credit Agreement | January 1, 2017 until January 1, 2019                      
Borrowing arrangements                      
Required quarterly repayments as a percentage of outstanding principal balance           1.25%          
Term loan facility | First Amended and Restated Credit Agreement | January 1, 2019 until October 4, 2023 maturity date                      
Borrowing arrangements                      
Required quarterly repayments as a percentage of outstanding principal balance           2.00%          
Other Credit Facilities                      
Borrowing arrangements                      
Maximum borrowing capacity               6,000,000   6,000,000  
Amount outstanding               0   0  
Other Credit Facilities | Bank guarantees                      
Borrowing arrangements                      
Amount outstanding               4,100,000   3,500,000  
Other Credit Facilities | Surety bonds                      
Borrowing arrangements                      
Amount outstanding               $ 1,100,000   $ 1,100,000