The idealist Buddhist philosophy became the chief opponent to the Naiyayikas. Nagarjuna, the founder of the Madhyamika "Middle Way" developed an analysis known as the "catuskoti" or tetralemma. This four-cornered argumentation systematically examined and rejected the affirmation of a proposition, its denial, the joint affirmation and denial, and finally, the rejection of its affirmation and denial. But it was with Dignaga and his successor Dharmakirti that Buddhist logic reached its height. Their analysis centered on the definition of necessary logical entailment, "vyapti," also known as invariable concomitance or pervasion. To this end a doctrine known as "apoha" or differentiation was developed. This involved what might be called inclusion and exclusion of defining properties. The difficulties involved in this enterprise, in part, stimulated the neo-scholastic school of Navya-Nyaya, which introduced a formal analysis of inference in the sixteenth century.