Trade accounts receivable Billed Revenues [Member] Stock Appreciation Rights (SARs) Stock Appreciation Rights (SARs) [Member] Pay vs Performance Disclosure [Line Items] Proceeds from sales of marketable investments Proceeds from Sale of Debt Securities, Available-for-Sale Accrued expenses Accrued Liabilities, Current Statistical Measurement [Domain] Statistical Measurement [Domain] Research and development Research and Development Expense Changes in operating assets and liabilities: Increase (Decrease) in Operating Capital [Abstract] Underlying Security Market Price Change Underlying Security Market Price Change, Percent Cash Business Combination, Recognized Identifiable Assets Acquired and Liabilities Assumed, Cash and Equivalents Debt Instrument, Convertible, Term [Axis] Debt Instrument, Convertible, Term [Axis] Debt Instrument, Convertible, Term [Axis] Number of consecutive trading days (in days) Debt Instrument, Convertible, Threshold Consecutive Trading Days PRSUs PRSU Performance-Based Restricted Stock Units (PRSUs) [Member] Performance-Based Restricted Stock Units (PRSUs) Award Type [Domain] Award Type [Domain] Option to purchase additional debt through private offering Debt Instrument, Option to Purchase Additional Debt through Private Offering Debt Instrument, Option to Purchase Additional Debt through Private Offering Fair Value as of Grant Date Award Grant Date Fair Value Performance obligation satisfaction period (in months) Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Period Outstanding, beginning balance (in shares) Outstanding, ending balance (in shares) Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Number Actual total shareholder return (as a percent) Share-based Compensation Arrangement by Share-based Payment Award, Percent Of Total Shareholder Return Share-based Compensation Arrangement by Share-based Payment Award, Percent Of Total Shareholder Return Stockholders' Equity Capital Structure [Table] Stockholders' Equity Capital Structure [Table] Stockholders' Equity Capital Structure Debt Debt Disclosure [Text Block] Statement of Stockholders' Equity [Abstract] Statement of Stockholders' Equity [Abstract] Schedule of Recognized Identified Assets Acquired and Liabilities Assumed Schedule of Recognized Identified Assets Acquired and Liabilities Assumed [Table Text Block] Aceyus, Inc. Aceyus, Inc. [Member] Aceyus, Inc. 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