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Payments for Repurchase of Common Stock Billings in excess of costs Contract with Customer, Liability, Current Total current assets Assets, Current Statistical Measurement [Axis] Statistical Measurement [Axis] Insider Trading Arrangements [Line Items] Long-term debt Long-Term Debt, Excluding Current Maturities Cost of sales Cost of Revenue Award Type [Axis] Award Type [Axis] Unpatented technology Unpatented Technology [Member] Named Executive Officers, Footnote Named Executive Officers, Footnote [Text Block] Trade receivables, net of allowance of $2,818 and $2,558, respectively Accounts Receivable, after Allowance for Credit Loss, Current Retained earnings Retained Earnings (Accumulated Deficit) Restructuring and Related Activities [Abstract] Restructuring and Related Activities [Abstract] Aggregate Change in Present Value of Accumulated Benefit for All Pension Plans Reported in Summary Compensation Table Aggregate Change in Present Value of Accumulated Benefit for All Pension Plans 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Name Year-end Fair Value of Equity Awards Granted in Covered Year that are Outstanding and Unvested Year-end Fair Value of Equity Awards Granted in Covered Year that are Outstanding and Unvested [Member] Total acquired intangible assets, Gross Carrying Amount Acquired Intangible Assets, Total Acquired Intangible Assets, Total. 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