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Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions |  |  | 12 Months Ended | 104 Months Ended
--- | --- | --- | --- | ---
Jan. 16, 2018 | Jan. 02, 2018 | Dec. 31, 2017 | Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2017
Subsequent Event [Line Items] |  |  |  |  |  |
Dividends paid (in dollars per share) |  |  | $ 1.28 | $ 1.20 | $ 1.12 |
Options Granted (in shares) |  |  |  |  |  | 6,628,449
Options vesting and exercisable period, maximum |  |  | 8 years |  |  |
Options termination period |  |  | 9 years |  |  |
Total intrinsic value of stock options exercised |  |  | $ 6.9 | $ 23.2 | $ 14.2 |
Total unrecognized stock-based compensation expense |  |  | $ 14.6 |  |  | $ 14.6
Weighted average period over which total unrecognized stock-based compensation expense will be recognized |  |  | 4 years 1 month 27 days |  |  |
Total grant date fair value of stock options vested |  |  | $ 4.2 | 7.1 | 5.1 |
Total stock-based compensation expense |  |  | $ 5.2 | $ 4.1 | $ 5.8 |
Subsequent Event [Member] |  |  |  |  |  |
Subsequent Event [Line Items] |  |  |  |  |  |
Dividend declared (in dollars per share) | $ 0.37 |  |  |  |  |
Options Granted (in shares) |  | 520,601 |  |  |  |
Option Exercise (Strike) Price (in dollars per share) |  | $ 55.00 |  |  |  |
Closing Stock Price on Date of Grant (in dollars per share) |  | $ 54.54 |  |  |  |
Non-employee Director Options Elected (in shares) |  | 21,185 |  |  |  |
Non-employee Director Option Exercise (Strike) Price (in dollars per share) |  | $ 55.00 |  |  |  |

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