Annual report pursuant to Section 13 and 15(d)

Stockholders' Equity, Schedule of Common Stock Outstanding Roll Forward (Details)

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Stockholders' Equity, Schedule of Common Stock Outstanding Roll Forward (Details) - shares
12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Class of Stock      
Balance at beginning of period 70,960,461 69,607,000 68,641,000
Shares issued in connection with stock plans 153,000 693,000 304,000
Shares issued for payment of preferred stock dividends   1,000 3,000
Shares issued in connection with preferred stock conversions   101,000  
Shares issued in connection with amended shareholder agreement 465,000 558,000 659,000
Balance at end of period 71,578,093 70,960,461 69,607,000