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Borrowing Arrangements - Debt Agreements (Details)
1 Months Ended 9 Months Ended
Sep. 30, 2017
JPY (¥)
Oct. 04, 2016
USD ($)
Feb. 28, 2017
USD ($)
Sep. 30, 2017
JPY (¥)
Sep. 30, 2017
USD ($)
Dec. 31, 2016
JPY (¥)
Dec. 31, 2016
USD ($)
Sep. 30, 2016
Mar. 24, 2016
JPY (¥)
Borrowing arrangements                  
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) 3.23%     3.23% 3.23%     1.77%  
First Amended and Restated Credit Agreement | Maximum                  
Borrowing arrangements                  
Rate of interest at balance sheet date (as a percent) 3.49%     3.49% 3.49%     1.93%  
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)       0.25%          
Average interest rate (as a percent) 2.06%     2.06% 2.06%        
Amount outstanding ¥ 250,000,000     ¥ 250,000,000 $ 2,200,000 ¥ 0 0    
Availability under the credit facility ¥ 1,750,000,000     ¥ 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 outstanding         147,400,000   125,000,000    
Availability under the credit facility         150,200,000   172,500,000    
Letters of credit | First Amended and Restated Credit Agreement                  
Borrowing arrangements                  
Maximum borrowing capacity   75,000,000              
Amount outstanding         2,400,000   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         96,300,000   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         7,000,000   6,000,000    
Amount outstanding         0   0    
Other Credit Facilities | Bank guarantees                  
Borrowing arrangements                  
Amount outstanding         5,200,000   3,500,000    
Other Credit Facilities | Surety bonds                  
Borrowing arrangements                  
Amount outstanding         $ 1,100,000   $ 1,100,000