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Stockholders' Equity (Tables)
12 Months Ended
Dec. 31, 2016
Stockholders' Equity [Abstract]  
Stock option and restricted stock activity
The following table summarizes stock option and restricted stock activity for the Plans:

   
Stock Options
  
Restricted Shares
 
  
Shares
Available for
Grant
  
Shares
  
Weighted
Average
Exercise
Price Per
Share ($)
  
Shares
  
Weighted
Average
Exercise
Price Per
Share ($)
 
                
Balance January 1, 2014
  
1,190,964
   
1,131,415
  
$
32.42
   
185,572
  
$
37.65
 
Granted
  
(279,643
)
  
173,068
   
58.25
   
106,575
   
59.16
 
Exercised/vested
  
-
   
(323,636
)
  
30.57
   
(61,621
)
  
36.51
 
Canceled
  
84,806
   
(29,768
)
  
41.88
   
(55,038
)
  
38.73
 
Balance December 31, 2014
  
996,127
   
951,079
   
37.46
   
175,488
   
50.56
 
Authorized
  
880,000
   
-
   
-
   
-
   
-
 
Granted
  
(455,275
)
  
238,773
   
60.40
   
216,502
   
60.32
 
Exercised/vested
  
-
   
(74,839
)
  
33.12
   
(59,801
)
  
47.51
 
Canceled
  
71,113
   
(23,169
)
  
60.22
   
(47,944
)
  
51.43
 
Balance December 31, 2015
  
1,491,965
   
1,091,844
   
42.29
   
284,245
   
58.63
 
Authorized
  
-
   
-
   
-
   
-
   
-
 
Granted
  
(538,787
)
  
383,622
   
38.59
   
155,165
   
38.37
 
Exercised/vested
  
-
   
(150,944
)
  
36.66
   
(88,746
)
  
57.38
 
Canceled
  
249,248
   
(125,797
)
  
43.78
   
(123,451
)
  
50.72
 
Balance December 31, 2016
  
1,202,426
   
1,198,725
   
41.66
   
227,213
   
49.57