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Commitments and Contingencies (Tables) | 12 Months Ended
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Dec. 31, 2017
Commitments and Contingencies Disclosure [Abstract] |
Minimum Commitments under Noncancelable Operating Lease Agreements | The minimum commitments under these agreements at December 31, 2017, were as follows:
(millions) | Commitments |
2018 | $ | 53.6 |
2019 | 44.2 |
2020 | 28.5 |
2021 | 16.9 |
2022 | 8.0 |
Thereafter | 1.1 |
Total | $ | 152.3 |
Expense Incurred for Leases | The expense we incurred for the leases disclosed above, as well as other operating leases that may be cancelable or have terms less than one year, was:
(millions) | Expense |
2017 | $ | 77.2 |
2016 | 72.9 |
2015 | 66.6 |

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