.7 million in 2014 , $ 10.0 million in 2015 , $ 8.2 million in 2016 and $ 7.4 million in 2017 . 17 . royalty agreements the company has entered into various renewable , nonexclusive license agreements under which the company has been granted access to the licensor 2019s technology and the right to sell the technology in the company 2019s product line . royalties are payable to developers of the software at various rates and amounts , which generally are based upon unit sales or revenue