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Acanthocephala declivis
While this is a leaf-footed bug in the family Coreidae, it is not in the same family as the Large Milkweed bug, which is in the family Lygaeidae. Coreid bugs are distinguished by the large leaf-shaped protrusions on their hind tibiae. This is in the genus Acanthocephala, and looks most like A. declivis to me. This is not Leptoglossus clypealis, which would have a white stripe along the "back."
It looks like some type of milkweed bug, the only thing is... that it's brown. http://en.wikipedia.org/wiki/Large_milkw...